Parallel stirring mixer robot with three-rotation two-movement mode of locking mode and driving method

Abstract

The application discloses a three-rotation two-movement mode parallel stirring and mixing robot with a locking mode, comprising a base and a moving platform, wherein the base and the moving platform are provided with a first movement chain, a second movement chain, a third movement chain, a fourth movement chain, a fifth movement chain, a sixth movement chain, a seventh movement chain and an eighth movement chain. In the locking mode, all the driving motors do not need to be locked, and the end effector of the parallel stirring and mixing robot can still be in the locking state, has the ability to keep the posture and position stable, and can resist external impact forces through the strength and overall rigidity of the robot structure rods. The application further discloses a driving method of the three-rotation two-movement mode parallel stirring and mixing robot with the locking mode.

Description

Technical Field

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

[0002] A parallel mixing robot with a three-rotation, two-translation motion mode can perform three-dimensional rotation and two-dimensional translation mixing operations in three-dimensional space. During the three-dimensional rotation, mixing can be achieved by relying on the inertia of the material itself. During the two-dimensional translation, directional impact can be generated, promoting the mixing effect. Currently, such multi-degree-of-freedom mixing robots are not common in the market, and they have the advantages of high load capacity and large material mixing throughput. However, existing mixing robots of this type require locking the drive joints to maintain the stability of the mixing container during loading and unloading. When the material throughput is large, the impact force of sudden loading and unloading during the mixing process will cause significant impact on the equipment and motors. Furthermore, frequent loading and unloading will increase the wear of the equipment joints, accelerate the damage to the joints and drive motors, and reduce the operating accuracy and service life of the equipment. Summary of the Invention

[0003] The first objective of this invention is to provide a parallel mixing robot with a three-rotation, two-movement motion mode and a locking mode. In the locking mode, the end effector of the parallel mixing robot can remain locked even when all drive motors do not need to be locked, thus maintaining the robot's posture and position stability. It can also resist external impact forces through the inherent strength and overall rigidity of the robot's structural members.

[0004] A second objective of this invention is to provide a driving method for a parallel stirring and mixing robot with a locking mode, characterized by a three-rotation, two-movement motion pattern.

[0005] The first technical solution adopted in this invention is a parallel mixing robot with a three-rotation and two-movement motion mode and a locking mode, including 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 invention is further characterized in that:

[0007] The first kinematic chain includes, in sequence, an eleventh revolute joint R11, a second link, a twelfth revolute joint R12, a third link, a thirteenth revolute joint R13, a fourth link, a fourteenth revolute joint R14, a fifth link, a fifteenth prismatic joint P15, a sixth link, a sixteenth prismatic joint P16, a seventh link, and a seventeenth revolute joint R17; the seventeenth revolute joint R17 is also connected to the moving platform, and the eleventh revolute joint R11 is also connected to the base;

[0008] The eleventh rotary joint R11 is connected to an auxiliary rotary drive motor.

[0009] The second kinematic chain includes the 21st revolute joint R21, the 11th link, the 22nd revolute joint R22, the 10th link, the 23rd revolute joint R23, the 9th link, the 24th prismatic joint P24, the 8th link, and the 25th prismatic joint P25 connected in sequence; the 25th prismatic joint P25 is also connected to the moving platform, and the 21st revolute joint R21 is also connected to the base.

[0010] The 21st rotary joint R21 is connected to a rotary drive motor.

[0011] The third kinematic chain includes the following links connected in sequence: the thirty-first revolute joint R31, the twelfth link, the thirty-second revolute joint R32, the thirteenth link, the thirty-third revolute joint R33, the fourteenth link, the thirty-fourth revolute joint R34, the fifteenth link, the thirty-fifth prismatic joint P35, the sixteenth link, the thirty-sixth prismatic joint P36, the seventeenth link, and the thirty-seventh revolute joint R37; the thirty-seventh revolute joint R37 is also connected to the moving platform, and the thirty-first revolute joint R31 is also connected to the base;

[0012] The thirty-first rotary joint R31 is connected to an auxiliary rotary drive motor.

[0013] The fourth kinematic chain includes the forty-first revolute joint R41, the twenty-first link, the forty-second revolute joint R42, the twentieth link, the forty-third revolute joint R43, the nineteenth link, the forty-fourth prismatic joint P44, the eighteenth link, and the forty-fifth prismatic joint P45 connected in sequence; the forty-fifth prismatic joint P45 is also connected to the moving platform, and the forty-first revolute joint R41 is also connected to the base;

[0014] The forty-first rotary joint R41 is connected to a rotary drive motor.

[0015] The fifth kinematic chain includes the following components connected in sequence: the fifty-first revolute joint R51, the twenty-second link, the fifty-second revolute joint R52, the twenty-third link, the fifty-third revolute joint R53, the twenty-fourth link, the fifty-fourth prismatic joint P54, the twenty-fifth link, and the fifty-fifth prismatic joint P55; the fifty-fifth prismatic joint P55 is also connected to the moving platform, and the fifty-first revolute joint R51 is also connected to the base.

[0016] The 51st rotary joint R51 is connected to a rotary drive motor.

[0017] The sixth kinematic chain includes, in sequence, the sixty-first revolute joint R61, the thirty-first link 31, the sixty-second revolute joint R62, the thirtieth link 30, the sixty-third revolute joint R63, the twenty-ninth link 29, the sixty-fourth revolute joint R64, the twenty-eighth link 28, the sixty-fifth prismatic joint P65, the twenty-seventh link 27, the sixty-sixth prismatic joint P66, the twenty-sixth link 26, and the sixty-seventh revolute joint R67; the sixty-seventh revolute joint R67 is also connected to the moving platform, and the sixty-first revolute joint R61 is also connected to the base;

[0018] The sixty-first rotary joint R61 is connected to an auxiliary rotary drive motor.

[0019] The seventh kinematic chain includes the seventy-first ball joint S71, the thirty-second link, the seventy-second sliding joint P72, the thirty-third link, and the seventy-third ball joint S73 connected in sequence; the seventy-third ball joint S73 is also connected to the moving platform, and the seventy-first ball joint S71 is also connected to the base.

[0020] The 72nd moving pair P72 is connected to a moving drive motor.

[0021] The eighth kinematic chain includes the 83rd ball joint S83, the 35th link, the 82nd moving joint P82, the 34th link, and the 81st ball joint S81 connected in sequence; the 81st ball joint S81 is also connected to the moving platform, and the 83rd ball joint S83 is also connected to the base.

[0022] The 82nd moving pair P82 is connected to a moving drive motor.

[0023] The second technical solution adopted in this invention is a driving method for a parallel stirring and mixing robot with a locking mode, consisting of three rotations and two movements, specifically:

[0024] The system controls the rotary drive motors connected to the 21st rotary joint R21, the 41st rotary joint R41, and the 51st rotary joint R51; controls the motion drive motors connected to the 72nd prismatic joint P72 and the 82nd prismatic joint P82; and controls the auxiliary rotary drive motors connected to the 11th rotary joint R11, the 31st rotary joint R31, and the 61st rotary joint R61. The moving platform is in a three-rotation two-motion motion mode.

[0025] The beneficial effects of this invention are:

[0026] (1) The present invention is a parallel mixing robot with a three-rotation two-movement motion mode and a locking mode. By changing the motion mode, the end effector of the robot can be in a locked mode. In the locked mode, the three-rotation two-movement motion mode of the end effector of the parallel mixing robot can still be locked even when all drive motors do not need to be locked. It has the ability to maintain posture and position stability and can resist external impact forces through the strength of the robot's structural members and the overall rigidity.

[0027] (2) The present invention features a parallel mixing robot with a three-rotation, two-movement motion mode and a locking mode. When the three-rotation, two-movement motion mode of the end effector of the parallel mixing robot is locked, the impact force during material loading and unloading can be resisted by the linkage and the overall rigidity of the robot. In this mode, the drive motor does not need to be locked, which reduces the adverse effects of sudden loading impact force on the accuracy and service life of the joint drive motor. This mode reduces the impact damage of external impact force on the drive motor of the mixing robot, and maintains the stability of the tool posture after the processing tool is installed. It plays a positive role in improving the service life of the mixing robot, ensuring the accuracy of motion processing operation, and ensuring the safe operation of the equipment.

[0028] (3) The present invention has a three-rotation two-movement motion mode parallel mixing robot with a locking mode. When the robot end effector is in the locking mode, all drives can be in an idle state, which can reduce the energy consumption when the robot is waiting for a long time and improve the resistance to damage to the robot drive by sudden external forces. Attached Figure Description

[0029] Figure 1 Motion mode transformation configuration of a three-rotation, two-translation parallel mixing robot with locking mode

[0030] Figure 2 Three-rotation, two-motion parallel mixing robot with locking mode; three-rotation, two-motion motion mode configuration

[0031] Figure 3A three-rotation, two-movement parallel mixing robot with a locking mode, featuring a locking mode configuration 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. Eighteenth link, 19. Links 19-16, 20-20, 21-21, 22-22, 23-23, 24-24, 25-25, 26-26, 27-27, 28-28, 29-29, 30-30, 31-31, 32-32, 33-33, 34-34, 35-35, 36. Moving platform. Detailed implementation method.

[0032] The present invention will now be described in detail with reference to the accompanying drawings and specific embodiments.

[0033] The present invention provides a parallel mixing robot with a locking mode, comprising 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.

[0034] The first kinematic chain includes, in sequence, an eleventh revolute joint R11, a second link 2, a twelfth revolute joint R12, a third link 3, a thirteenth revolute joint R13, a fourth link 4, a fourteenth revolute joint R14, a fifth link 5, a fifteenth prismatic joint P15, a sixth link 6, a sixteenth prismatic joint P16, a seventh link 7, and a seventeenth revolute joint R17; the seventeenth revolute joint R17 is also connected to the moving platform 36, and the eleventh revolute joint R11 is also connected to the base 1;

[0035] The eleventh rotary joint R11 is connected to an auxiliary rotary drive motor.

[0036] The second kinematic chain includes the following components connected in sequence: the twenty-first revolute joint R21, the eleventh link 11, the twenty-second revolute joint R22, the tenth link 10, the twenty-third revolute joint R23, the ninth link 9, the twenty-fourth prismatic joint P24, the eighth link 8, and the twenty-fifth prismatic joint P25; the twenty-fifth prismatic joint P25 is also connected to the moving platform 36, and the twenty-first revolute joint R21 is also connected to the base 1.

[0037] The 21st rotary joint R21 is connected to a rotary drive motor.

[0038] The third kinematic chain includes the following components connected in sequence: the thirty-first revolute joint R31, the twelfth link 12, the thirty-second revolute joint R32, the thirteenth link 13, the thirty-third revolute joint R33, the fourteenth link 14, the thirty-fourth revolute joint R34, the fifteenth link 15, the thirty-fifth prismatic joint P35, the sixteenth link 16, the thirty-sixth prismatic joint P36, the seventeenth link 17, and the thirty-seventh revolute joint R37; the thirty-seventh revolute joint R37 is also connected to the moving platform 36, and the thirty-first revolute joint R31 is also connected to the base 1;

[0039] The fifteenth link (15) is a V-shaped link;

[0040] The thirty-first rotary joint R31 is connected to an auxiliary rotary drive motor.

[0041] The fourth kinematic chain includes the forty-first revolute joint R41, the twenty-first link 21, the forty-second revolute joint R42, the twentieth link 20, the forty-third revolute joint R43, the nineteenth link 19, the forty-fourth prismatic joint P44, the eighteenth link 18, and the forty-fifth prismatic joint P45 connected in sequence; the forty-fifth prismatic joint P45 is also connected to the moving platform 36, and the forty-first revolute joint R41 is also connected to the base 1;

[0042] The forty-first rotary joint R41 is connected to a rotary drive motor.

[0043] The fifth kinematic chain includes the following components connected in sequence: the fifty-first revolute joint R51, the twenty-second link 22, the fifty-second revolute joint R52, the twenty-third link 23, the fifty-third revolute joint R53, the twenty-fourth link 24, the fifty-fourth prismatic joint P54, the twenty-fifth link 25, and the fifty-fifth prismatic joint P55; the fifty-fifth prismatic joint P55 is also connected to the moving platform 36, and the fifty-first revolute joint R51 is also connected to the base 1.

[0044] The 51st rotary joint R51 is connected to a rotary drive motor.

[0045] The sixth kinematic chain includes, in sequence, the sixty-first revolute joint R61, the thirty-first link 31, the sixty-second revolute joint R62, the thirtieth link 30, the sixty-third revolute joint R63, the twenty-ninth link 29, the sixty-fourth revolute joint R64, the twenty-eighth link 28, the sixty-fifth prismatic joint P65, the twenty-seventh link 27, the sixty-sixth prismatic joint P66, the twenty-sixth link 26, and the sixty-seventh revolute joint R67; the sixty-seventh revolute joint R67 is also connected to the moving platform 36, and the sixty-first revolute joint R61 is also connected to the base 1;

[0046] The sixty-first rotary joint R61 is connected to an auxiliary rotary drive motor.

[0047] The seventh kinematic chain includes the seventy-first ball joint S71, the thirty-second link 32, the seventy-second sliding joint P72, the thirty-third link 33, and the seventy-third ball joint S73 connected in sequence; the seventy-third ball joint S73 is also connected to the moving platform 36, and the seventy-first ball joint S71 is also connected to the base 1.

[0048] The 72nd moving pair P72 is connected to a moving drive motor.

[0049] The eighth kinematic chain includes the 83rd ball joint S83, the 35th link 35, the 82nd moving joint P82, the 34th link 34, and the 81st ball joint S81 connected in sequence; the 81st ball joint S81 is also connected to the moving platform 36, and the 83rd ball joint S83 is also connected to the base 1.

[0050] The 82nd moving pair P82 is connected to a moving drive motor.

[0051] This invention also provides a driving method for a parallel stirring and mixing robot with a locking mode, featuring a three-rotation, two-movement motion pattern, specifically:

[0052] By controlling the rotary drive motors connected to the 21st rotary joint R21, the 41st rotary joint R41, and the 51st rotary joint R51, controlling the motion drive motors connected to the 72nd prismatic joint P72 and the 82nd prismatic joint P82, and controlling the auxiliary rotary drive motors connected to the 11th rotary joint R11, the 31st rotary joint R31, and the 61st rotary joint R61, the moving platform 36 can be put into a three-rotation two-motion motion mode.

[0053] like Figure 1 As shown, the second link 2 is rotatably connected to the base 1 via the eleventh revolute joint R11; the third link 3 is rotatably connected to the second link 2 via the twelfth revolute joint R12; the fourth link 4 is rotatably connected to the third link 3 via the thirteenth revolute joint R13; and the fifth link 5 is rotatably connected to the fourth link 4 via the fourteenth revolute joint R14. The sixth link 6 is movably connected to the fifth link 5 via the fifteenth prismatic joint P15; and the seventh link 7 is movably connected to the sixth link 6 via the sixteenth prismatic joint P16. The moving platform 36 is rotatably connected to the seventh link 7 via the seventeenth revolute joint R17.

[0054] like Figure 1 As shown, the eleventh link 11 is rotatably connected to the base 1 via the twenty-first revolute joint R21; the tenth link 10 is rotatably connected to the eleventh link 11 via the twenty-second revolute joint R22; and the ninth link 9 is rotatably connected to the tenth link 10 via the twenty-third revolute joint R23. The eighth link 8 is movably connected to the ninth link 9 via the twenty-fourth prismatic joint P24. The eighth link 8 is movably connected to the moving platform 36 via the twenty-fifth prismatic joint P25.

[0055] like Figure 1 As shown, the twelfth link 12 is rotatably connected to the thirty-first revolute joint R31, and the thirteenth link 13 is rotatably connected to the twelfth link 12 via the thirty-second revolute joint R32. The fourteenth link 14 is rotatably connected to the thirteenth link 13 via the thirty-third revolute joint R33. The fifteenth link 15 is rotatably connected to the fourteenth link 14 via the thirty-fourth revolute joint R34. The sixteenth link 16 is movably connected to the fifteenth link 15 via the thirty-fifth prismatic joint P35. The seventeenth link 17 is movably connected to the sixteenth link 16 via the thirty-sixth prismatic joint P36. The moving platform 36 is rotatably connected to the seventeenth link 17 via the thirty-seventh revolute joint R37.

[0056] Figure 1 As shown, the 21st link 21 is rotatably connected to the base 1 via the 41st revolute joint R41. The 20th link 20 is rotatably connected to the 21st link 21 via the 42nd revolute joint R42. The 19th link 19 is rotatably connected to the 20th link 20 via the 43rd revolute joint R43. The 18th link 18 is movably connected to the 19th link 19 via the 44th prismatic joint P44. The moving platform 36 is movably connected to the 18th link 18 via the 45th prismatic joint P45.

[0057] like Figure 1 As shown, the 22nd link 22 is rotatably connected to the base 1 via the 51st revolute joint R51. The 23rd link 23 is rotatably connected to the 22nd link 22 via the 52nd revolute joint R52. The 24th link 24 is rotatably connected to the 23rd link 23 via the 53rd revolute joint R53. The 25th link 25 is rotatably connected to the 24th link 24 via the 54th prismatic joint P54. The moving platform 36 is movably connected to the 25th link 25 via the 55th prismatic joint P55.

[0058] like Figure 1 As shown, the 31st link 31 is rotatably connected to the base 1 via the 61st revolute joint R61. The 30th link 30 is rotatably connected to the 31st link 31 via the 62nd revolute joint R62. The 29th link 29 is rotatably connected to the 30th link 30 via the 63rd revolute joint R63. The 28th link 28 is rotatably connected to the 29th link 29 via the 64th revolute joint R64. The 27th link 27 is movably connected to the 28th link 28 via the 65th prismatic joint P65. The 26th link 26 is movably connected to the 27th link 27 via the 66th prismatic joint P66. The moving platform 36 is rotatably connected to the 26th link 26 via the 67th revolute joint R67.

[0059] like Figure 1As shown, the 32nd link 32 is connected to the ball joint of the base 1 via the 71st ball joint S71. The 33rd link 33 is movably connected to the 32nd link 32 via the 72nd sliding joint P72. The moving platform 36 is connected to the 33rd link 33 via the 73rd ball joint S73.

[0060] like Figure 1 As shown, the 35th link 35 is connected to the base 1 ball joint via the 83rd ball joint S83. The 34th link 34 is movably connected to the 35th link 35 via the 82nd sliding joint P82. The 34th link 34 is connected to the moving platform 36 ball joint via the 81st ball joint S81.

[0061] The 21st revolute joint R21, the 41st revolute joint R41, and the 51st revolute joint R51 are all connected to a rotary drive motor.

[0062] The 72nd moving part P72 and the 82nd moving part P82 are connected to a moving drive motor.

[0063] The eleventh rotary joint R11, the thirty-first rotary joint R31, and the sixty-first rotary joint R61 are connected to auxiliary rotary drive motors.

[0064] like Figure 1 As shown, the axes of the twelfth revolute joint R12, the thirteenth revolute joint R13, the fourteenth revolute joint R14, the twenty-first revolute joint R21, the twenty-second revolute joint R22, the twenty-third revolute joint R23, the thirty-second revolute joint R32, the thirty-third revolute joint R33, the thirty-fourth revolute joint R34, the forty-first revolute joint R41, the forty-second revolute joint R42, the forty-third revolute joint R43, the fifty-first revolute joint R51, the fifty-second revolute joint R52, the fifty-third revolute joint R53, the sixty-second revolute joint R62, the sixty-third revolute joint R63, and the sixty-fourth revolute joint R64 intersect at point O.

[0065] like Figure 1 As shown, the moving directions of the fifteenth moving joint P15, the twenty-fourth moving joint P24, the thirty-fifth moving joint P35, the forty-fourth moving joint P44, the fifty-fourth moving joint P54, and the sixty-fifth moving joint P65 are parallel to the Z-axis.

[0066] like Figure 1 As shown, the moving directions of the sixteenth moving joint P16, the twenty-fifth moving joint P25, the thirty-sixth moving joint P36, the forty-fifth moving joint P45, the fifty-fifth moving joint P55, and the sixty-sixth moving joint P66 are parallel to the X-axis.

[0067] like Figure 1 As shown, the axes of the eleventh revolute joint R11 and the seventeenth revolute joint R17 coincide and do not pass through point O.

[0068] like Figure 1 As shown, the axes of the thirty-first revolute joint R31 and the thirty-seventh revolute joint R37 coincide and do not pass through point O.

[0069] like Figure 1 As shown, the axes of the sixty-first revolute joint R61 and the sixty-seventh revolute joint R67 coincide and do not pass through point O.

[0070] like Figure 1 As shown, the movement directions of the seventy-second prismatic joint P72 and the eighty-second prismatic joint P82 are along the general spatial direction.

[0071] like Figure 1 As shown, there is a straight line between the axis of the eleventh revolute joint R11 and the plane where point O is located. This straight line is perpendicular to the movement direction of both the sixteenth prismatic joint P16 and the fifteenth prismatic joint P15.

[0072] like Figure 1 As shown, there is a straight line between the axis of the thirty-first revolute joint R31 and the plane containing point O. This straight line is perpendicular to the movement direction of both the thirty-fifth prismatic joint P35 and the thirty-sixth prismatic joint P36.

[0073] like Figure 1 As shown, there is a straight line between the axis of the sixty-first revolute joint R61 and the plane containing point O. This straight line is perpendicular to the movement direction of both the sixty-fifth prismatic joint P65 and the sixty-sixth prismatic joint P66.

[0074] Figure 1 In the configuration shown, the moving platform 36 is in a changing configuration between a locked mode and a three-rotation two-transition motion mode.

[0075] Figure 1 In the configuration shown, the rotary drive motors connected to the 21st rotary joint R21, 41st rotary joint R41, and 51st rotary joint R51 are controlled; the motion drive motors connected to the 72nd prismatic joint P72 and 82nd prismatic joint P82 are controlled; and the auxiliary rotary drive motors connected to the 11th rotary joint R11, 31st rotary joint R31, and 61st rotary joint R61 are controlled, so that... Figure 1 The configuration shown is transformed to Figure 2 The configuration of the mechanism is shown.

[0076] Figure 2 In the configuration shown, the moving platform 36 is in a three-rotation two-transition motion mode.

[0077] Figure 2In the configuration shown, the axes of the twelfth revolute joint R12, the thirteenth revolute joint R13, the fourteenth revolute joint R14, the twenty-first revolute joint R21, the twenty-second revolute joint R22, the twenty-third revolute joint R23, the thirty-second revolute joint R32, the thirty-third revolute joint R33, the thirty-fourth revolute joint R34, the forty-first revolute joint R41, the forty-second revolute joint R42, the forty-third revolute joint R43, the fifty-first revolute joint R51, the fifty-second revolute joint R52, the fifty-third revolute joint R53, the sixty-second revolute joint R62, the sixty-third revolute joint R63, and the sixty-fourth revolute joint R64 intersect at point O.

[0078] like Figure 2 As shown, the moving directions of the fifteenth moving joint P15, the twenty-fourth moving joint P24, the thirty-fifth moving joint P35, the forty-fourth moving joint P44, the fifty-fourth moving joint P54, and the sixty-fifth moving joint P65 are parallel to the Z-axis.

[0079] like Figure 2 As shown, the moving directions of the sixteenth moving joint P16, the twenty-fifth moving joint P25, the thirty-sixth moving joint P36, the forty-fifth moving joint P45, the fifty-fifth moving joint P55, and the sixty-sixth moving joint P66 are parallel to the X-axis.

[0080] like Figure 2 As shown, the axes of the eleventh revolute joint R11 and the seventeenth revolute joint R17 do not coincide. Figure 2 As shown, the axes of the thirty-first revolute joint R31 and the thirty-seventh revolute joint R37 do not coincide. (As...) Figure 2 As shown, the axes of the sixty-first revolute joint R61 and the sixty-seventh revolute joint R67 do not coincide.

[0081] Figure 2 In the configuration shown, the drive motors connected to the 21st revolute joint R21, 41st revolute joint R41, 61st revolute joint R61, 72nd prismatic joint P72, and 82nd prismatic joint P82 can control... Figure 2 The moving platform 36 is shown to rotate in three dimensions around point O, and to move in two dimensions along the x-axis and z-axis of the moving coordinate system. Figure 2 In the configuration shown, the moving coordinate system is fixed to the moving platform 36 and coincides with the fixed coordinate system XYZ.

[0082] Figure 1 In the configuration shown, the rotary drive motors connected to the 21st rotary joint R21, 41st rotary joint R41, and 51st rotary joint R51 are controlled; the motion drive motors connected to the 72nd prismatic joint P72 and 82nd prismatic joint P82 are controlled; and the auxiliary rotary drive motors connected to the 11th rotary joint R11, 31st rotary joint R31, and 61st rotary joint R61 are controlled, so that... Figure 1The configuration shown is transformed to Figure 3 The configuration of the mechanism is shown.

[0083] Figure 3 In the configuration shown, the moving platform 36 is in a locked mode. The rotary drive motors connected to the 21st rotary joint R21, the 41st rotary joint R41, and the 51st rotary joint R51 do not need to be locked, the motion drive motors connected to the 72nd sliding joint P72 and the 82nd sliding joint P82 do not need to be locked, and the auxiliary rotary drive motors connected to the 11th rotary joint R11, the 31st rotary joint R31, and the 61st rotary joint R61 do not need to be locked. The moving platform 36 remains in a locked state.

[0084] Figure 3 In the configuration shown, the axes of the twelfth revolute joint R12, the thirteenth revolute joint R13, and the fourteenth revolute joint R14 intersect at point O1; the axes of the thirty-second revolute joint R32, the thirty-third revolute joint R33, and the thirty-fourth revolute joint R34 intersect at point O2; and the axes of the sixty-second revolute joint R62, the sixty-third revolute joint R63, and the sixty-fourth revolute joint R64 intersect at point O3.

[0085] Figure 3 In the configuration shown, the three moving planes determined by the moving directions of the fifteenth moving joint P15 and the sixteenth moving joint P16, the thirty-fifth moving joint P35 and the thirty-sixth moving joint P36, and the sixty-fifth moving joint P65 and the sixty-sixth moving joint P66 are not coplanar and do not have a common line.

[0086] Figure 3 In the configuration shown, the lines connecting points O1 and O, O2 and O, and O3 and O are neither collinear nor coplanar.

[0087] like Figure 3 As shown, there is a straight line between the axis of the eleventh revolute joint R11 and the plane containing point O. This straight line is perpendicular to the movement direction of both the sixteenth prismatic joint P16 and the fifteenth prismatic joint P15.

[0088] like Figure 3 As shown, there is a straight line between the axis of the thirty-first revolute joint R31 and the plane containing point O. This straight line is perpendicular to the movement direction of both the thirty-fifth prismatic joint P35 and the thirty-sixth prismatic joint P36.

[0089] like Figure 3 As shown, there is a straight line between the axis of the sixty-first revolute joint R61 and the plane containing point O. This straight line is perpendicular to the movement direction of both the sixty-fifth prismatic joint P65 and the sixty-sixth prismatic joint P66.

[0090] like Figure 3 As shown, the axes of the eleventh revolute joint R11 and the seventeenth revolute joint R17 coincide, but do not pass through point O.

[0091] like Figure 3 As shown, the axes of the thirty-first revolute joint R31 and the thirty-seventh revolute joint R37 coincide, but do not pass through point O.

[0092] like Figure 3 As shown, the axes of the sixty-first revolute joint R61 and the sixty-seventh revolute joint R67 coincide, but do not pass through point O.

[0093] Example 1

[0094] A parallel mixing robot with a locking mode and three rotation and two movement modes includes a base 1 and a 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 arranged between the base 1 and the moving platform 36.

[0095] Example 2

[0096] A parallel mixing robot with a locking mode and three rotation and two movement modes includes a base 1 and a 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 arranged between the base 1 and the moving platform 36.

[0097] The first kinematic chain includes, in sequence, an eleventh revolute joint R11, a second link 2, a twelfth revolute joint R12, a third link 3, a thirteenth revolute joint R13, a fourth link 4, a fourteenth revolute joint R14, a fifth link 5, a fifteenth prismatic joint P15, a sixth link 6, a sixteenth prismatic joint P16, a seventh link 7, and a seventeenth revolute joint R17; the seventeenth revolute joint R17 is also connected to the moving platform 36, and the eleventh revolute joint R11 is also connected to the base 1;

[0098] The eleventh rotary joint R11 is connected to an auxiliary rotary drive motor.

[0099] Example 3

[0100] A parallel mixing robot with a locking mode and three rotation and two movement modes includes a base 1 and a 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 arranged between the base 1 and the moving platform 36.

[0101] The first kinematic chain includes, in sequence, an eleventh revolute joint R11, a second link 2, a twelfth revolute joint R12, a third link 3, a thirteenth revolute joint R13, a fourth link 4, a fourteenth revolute joint R14, a fifth link 5, a fifteenth prismatic joint P15, a sixth link 6, a sixteenth prismatic joint P16, a seventh link 7, and a seventeenth revolute joint R17; the seventeenth revolute joint R17 is also connected to the moving platform 36, and the eleventh revolute joint R11 is also connected to the base 1;

[0102] The eleventh rotary joint R11 is connected to an auxiliary rotary drive motor.

[0103] The second kinematic chain includes the following components connected in sequence: the twenty-first revolute joint R21, the eleventh link 11, the twenty-second revolute joint R22, the tenth link 10, the twenty-third revolute joint R23, the ninth link 9, the twenty-fourth prismatic joint P24, the eighth link 8, and the twenty-fifth prismatic joint P25; the twenty-fifth prismatic joint P25 is also connected to the moving platform 36, and the twenty-first revolute joint R21 is also connected to the base 1.

[0104] The 21st rotary joint R21 is connected to a rotary drive motor.

[0105] Example 4

[0106] A parallel mixing robot with a locking mode and three rotation and two movement modes includes a base 1 and a 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 arranged between the base 1 and the moving platform 36.

[0107] The first kinematic chain includes, in sequence, an eleventh revolute joint R11, a second link 2, a twelfth revolute joint R12, a third link 3, a thirteenth revolute joint R13, a fourth link 4, a fourteenth revolute joint R14, a fifth link 5, a fifteenth prismatic joint P15, a sixth link 6, a sixteenth prismatic joint P16, a seventh link 7, and a seventeenth revolute joint R17; the seventeenth revolute joint R17 is also connected to the moving platform 36, and the eleventh revolute joint R11 is also connected to the base 1;

[0108] The eleventh rotary joint R11 is connected to an auxiliary rotary drive motor.

[0109] The second kinematic chain includes the following components connected in sequence: the twenty-first revolute joint R21, the eleventh link 11, the twenty-second revolute joint R22, the tenth link 10, the twenty-third revolute joint R23, the ninth link 9, the twenty-fourth prismatic joint P24, the eighth link 8, and the twenty-fifth prismatic joint P25; the twenty-fifth prismatic joint P25 is also connected to the moving platform 36, and the twenty-first revolute joint R21 is also connected to the base 1.

[0110] The 21st rotary joint R21 is connected to a rotary drive motor.

[0111] The third kinematic chain includes the following components connected in sequence: the thirty-first revolute joint R31, the twelfth link 12, the thirty-second revolute joint R32, the thirteenth link 13, the thirty-third revolute joint R33, the fourteenth link 14, the thirty-fourth revolute joint R34, the fifteenth link 15, the thirty-fifth prismatic joint P35, the sixteenth link 16, the thirty-sixth prismatic joint P36, the seventeenth link 17, and the thirty-seventh revolute joint R37; the thirty-seventh revolute joint R37 is also connected to the moving platform 36, and the thirty-first revolute joint R31 is also connected to the base 1.

[0112] Example 5

[0113] A parallel mixing robot with a locking mode and three rotation and two movement modes includes a base 1 and a 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 arranged between the base 1 and the moving platform 36.

[0114] The first kinematic chain includes, in sequence, an eleventh revolute joint R11, a second link 2, a twelfth revolute joint R12, a third link 3, a thirteenth revolute joint R13, a fourth link 4, a fourteenth revolute joint R14, a fifth link 5, a fifteenth prismatic joint P15, a sixth link 6, a sixteenth prismatic joint P16, a seventh link 7, and a seventeenth revolute joint R17; the seventeenth revolute joint R17 is also connected to the moving platform 36, and the eleventh revolute joint R11 is also connected to the base 1;

[0115] The eleventh rotary joint R11 is connected to an auxiliary rotary drive motor.

[0116] The second kinematic chain includes the following components connected in sequence: the twenty-first revolute joint R21, the eleventh link 11, the twenty-second revolute joint R22, the tenth link 10, the twenty-third revolute joint R23, the ninth link 9, the twenty-fourth prismatic joint P24, the eighth link 8, and the twenty-fifth prismatic joint P25; the twenty-fifth prismatic joint P25 is also connected to the moving platform 36, and the twenty-first revolute joint R21 is also connected to the base 1.

[0117] The 21st rotary joint R21 is connected to a rotary drive motor.

[0118] The third kinematic chain includes the following components connected in sequence: the thirty-first revolute joint R31, the twelfth link 12, the thirty-second revolute joint R32, the thirteenth link 13, the thirty-third revolute joint R33, the fourteenth link 14, the thirty-fourth revolute joint R34, the fifteenth link 15, the thirty-fifth prismatic joint P35, the sixteenth link 16, the thirty-sixth prismatic joint P36, the seventeenth link 17, and the thirty-seventh revolute joint R37; the thirty-seventh revolute joint R37 is also connected to the moving platform 36, and the thirty-first revolute joint R31 is also connected to the base 1;

[0119] The fifteenth link, 15, is a V-shaped link.

[0120] Example 6

[0121] A parallel mixing robot with a locking mode and three rotation and two movement modes includes a base 1 and a 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 arranged between the base 1 and the moving platform 36.

[0122] The first kinematic chain includes, in sequence, an eleventh revolute joint R11, a second link 2, a twelfth revolute joint R12, a third link 3, a thirteenth revolute joint R13, a fourth link 4, a fourteenth revolute joint R14, a fifth link 5, a fifteenth prismatic joint P15, a sixth link 6, a sixteenth prismatic joint P16, a seventh link 7, and a seventeenth revolute joint R17; the seventeenth revolute joint R17 is also connected to the moving platform 36, and the eleventh revolute joint R11 is also connected to the base 1;

[0123] The eleventh rotary joint R11 is connected to an auxiliary rotary drive motor.

[0124] The second kinematic chain includes the following components connected in sequence: the twenty-first revolute joint R21, the eleventh link 11, the twenty-second revolute joint R22, the tenth link 10, the twenty-third revolute joint R23, the ninth link 9, the twenty-fourth prismatic joint P24, the eighth link 8, and the twenty-fifth prismatic joint P25; the twenty-fifth prismatic joint P25 is also connected to the moving platform 36, and the twenty-first revolute joint R21 is also connected to the base 1.

[0125] The 21st rotary joint R21 is connected to a rotary drive motor.

[0126] The third kinematic chain includes the following components connected in sequence: the thirty-first revolute joint R31, the twelfth link 12, the thirty-second revolute joint R32, the thirteenth link 13, the thirty-third revolute joint R33, the fourteenth link 14, the thirty-fourth revolute joint R34, the fifteenth link 15, the thirty-fifth prismatic joint P35, the sixteenth link 16, the thirty-sixth prismatic joint P36, the seventeenth link 17, and the thirty-seventh revolute joint R37; the thirty-seventh revolute joint R37 is also connected to the moving platform 36, and the thirty-first revolute joint R31 is also connected to the base 1;

[0127] The fifteenth link (15) is a V-shaped link;

[0128] The thirty-first rotary joint R31 is connected to an auxiliary rotary drive motor.

Claims

1. A parallel mixing robot with a locking mode, featuring three rotational and two translational motion modes, characterized in that: It includes a base (1) and a moving platform (36), 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 provided between the base (1) and the moving platform (36); The first kinematic 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), a fourteenth rotary joint R14, a fifth link (5), a fifteenth prismatic joint P15, a sixth link (6), a sixteenth prismatic joint P16, a seventh link (7), and a seventeenth rotary joint R17 connected in sequence; the seventeenth rotary joint R17 is also connected to the moving platform (36), and the eleventh rotary joint R11 is also connected to the base (1); The eleventh rotary joint R11 is connected to an auxiliary rotary drive motor; The second kinematic chain includes a 21st revolute joint R21, an 11th link (11), a 22nd revolute joint R22, a 10th link (10), a 23rd revolute joint R23, a 9th link (9), a 24th prismatic joint P24, an 8th link (8), and a 25th prismatic joint P25 connected in sequence; the 25th prismatic joint P25 is also connected to the moving platform (36), and the 21st revolute joint R21 is also connected to the base (1); The twenty-first rotary joint R21 is connected to a rotary drive motor; The third kinematic chain includes the following components connected in sequence: the thirty-first revolute joint R31, the twelfth link (12), the thirty-second revolute joint R32, the thirteenth link (13), the thirty-third revolute joint R33, the fourteenth link (14), the thirty-fourth revolute joint R34, the fifteenth link (15), the thirty-fifth prismatic joint P35, the sixteenth link (16), the thirty-sixth prismatic joint P36, the seventeenth link (17), and the thirty-seventh revolute joint R37; the thirty-seventh revolute joint R37 is also connected to the moving platform (36), and the thirty-first revolute joint R31 is also connected to the base (1); The thirty-first rotary joint R31 is connected to an auxiliary rotary drive motor; The fourth kinematic chain includes a forty-first revolute joint R41, a twenty-first link (21), a forty-second revolute joint R42, a twentieth link (20), a forty-third revolute joint R43, a nineteenth link (19), a forty-fourth prismatic joint P44, an eighteenth link (18), and a forty-fifth prismatic joint P45 connected in sequence; the forty-fifth prismatic joint P45 is also connected to the moving platform (36), and the forty-first revolute joint R41 is also connected to the base (1); The forty-first rotary joint R41 is connected to a rotary drive motor; The fifth kinematic chain includes the following components connected in sequence: the 51st rotary joint R51, the 22nd link (22), the 52nd rotary joint R52, the 23rd link (23), the 53rd rotary joint R53, the 24th link (24), the 54th prismatic joint P54, the 25th link (25), and the 55th prismatic joint P55; the 55th prismatic joint P55 is also connected to the moving platform (36), and the 51st rotary joint R51 is also connected to the base (1); The 51st rotary joint R51 is connected to a rotary drive motor; The sixth kinematic chain includes the following components connected in sequence: the sixty-first revolute joint R61, the thirty-first link (31), the sixty-second revolute joint R62, the thirtieth link (30), the sixty-third revolute joint R63, the twenty-ninth link (29), the sixty-fourth revolute joint R64, the twenty-eighth link (28), the sixty-fifth prismatic joint P65, the twenty-seventh link (27), the sixty-sixth prismatic joint P66, the twenty-sixth link (26), and the sixty-seventh revolute joint R67; the sixty-seventh revolute joint R67 is also connected to the moving platform (36), and the sixty-first revolute joint R61 is also connected to the base (1); The sixty-first rotary joint R61 is connected to an auxiliary rotary drive motor; The seventh kinematic chain includes a seventy-first ball joint S71, a thirty-second link (32), a seventy-second sliding joint P72, a thirty-third link (33), and a seventy-third ball joint S73 connected in sequence; the seventy-third ball joint S73 is also connected to the moving platform (36), and the seventy-first ball joint S71 is also connected to the base (1). The 72nd moving part P72 is connected to a moving drive motor; The eighth kinematic chain includes the 83rd ball joint S83, the 35th link (35), the 82nd moving joint P82, the 34th link (34) and the 81st ball joint S81 connected in sequence; the 81st ball joint S81 is also connected to the moving platform (36) and the 83rd ball joint S83 is also connected to the base (1). The 82nd moving pair P82 is connected to a moving drive motor.

2. The driving method for the parallel mixing robot with a locking mode and a three-rotation, two-movement motion mode according to claim 1, characterized in that, Specifically, the system controls the rotation drive motors connected to the 21st rotary joint R21, the 41st rotary joint R41 and the 51st rotary joint R51, controls the motion drive motors connected to the 72nd prismatic joint P72 and the 82nd prismatic joint P82, and controls the auxiliary rotation drive motors connected to the 11th rotary joint R11, the 31st rotary joint R31 and the 61st rotary joint R61, so that the moving platform (36) is in a three-rotation two-motion motion mode.

Images