Two-rotation two-movement mode parallel robot with locking mode and driving method

Abstract

The application discloses a two-rotation two-movement motion mode parallel robot with a locking mode, which comprises a base and a moving platform, and a first motion chain is connected between the base and the moving platform; the first motion chain comprises a 11th rotation pair R11, a second connecting rod, a 12th rotation pair R12, a third connecting rod assembly, a first connecting unit, a sixth connecting rod assembly and a second connecting unit which are sequentially connected; the second connecting unit is further connected with the moving platform, and the 11th rotation pair R11 is further connected with the base; a third connecting unit is further connected between the third connecting rod assembly and the sixth connecting rod assembly, and a fourth connecting unit is further connected between the sixth connecting rod assembly and the moving platform; a second motion chain is further connected between the third connecting rod assembly and the base; and a third motion chain, a fourth motion chain and a fifth motion chain are further connected between the base and the moving platform. The parallel robot reduces the impact damage of external force on the driving motor. A driving method of the parallel robot is also disclosed.

Description

Technical Field

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

[0002] Parallel robots with two rotational and two kinetic motions have wide applications in tasks such as alignment and posture adjustment, heavy assembly, vibrating screens, and motion simulation. The combination of two kinetic and two rotational motions gives the robot's end effector a more flexible operating range and a wider range of attitude adjustments. Parallel robot configurations offer high rigidity and load-bearing capacity when handling heavy-duty objects, making them widely applicable. These parallel robots have fewer degrees of freedom, making them easier to control, design, manufacture, process, and assemble, and offering good economic benefits when applied to suitable work scenarios.

[0003] Existing parallel robots with two rotations and two traverses have relatively limited motion modes. In scenarios requiring stable position and orientation, the drive mechanism generally needs to be locked. Sudden external forces can impact the drive mechanism, potentially damaging the motors and reducing their accuracy. In scenarios requiring prolonged stability, keeping the drive mechanism locked consumes considerable energy. Summary of the Invention

[0004] The first objective of this invention is to provide a parallel robot with a locking mode and a two-rotation and two-movement motion mode, which can maintain the stability of the position and attitude of the moving platform without locking drive, effectively reducing the energy loss of existing two-rotation and two-movement parallel robots when maintaining a specific position and attitude, and the impact damage of external forces on the drive motor.

[0005] A second objective of this invention is to provide a driving method for a parallel robot with a locking mode and a two-rotational-two-movement motion mode.

[0006] The first technical solution adopted in this invention is a parallel robot with a locking mode and two rotational and two-movement motion modes, including a base and a moving platform, and a first kinematic chain connecting the base and the moving platform. The first kinematic chain includes an eleventh revolute joint R11, a second link, a twelfth revolute joint R12, a third link assembly, a first connecting unit, a sixth link assembly, and a second connecting unit connected in sequence; the second connecting unit is also connected to the moving platform, and the eleventh revolute joint R11 is also connected to the base; a third connecting unit is also connected between the third link assembly and the sixth link assembly, and a fourth connecting unit is also connected between the sixth link assembly and the moving platform; a second kinematic chain is also connected between the third link assembly and the base; and a third kinematic chain, a fourth kinematic chain, and a fifth kinematic chain are also connected between the base and the moving platform.

[0007] The invention is further characterized in that: The third link assembly includes a first support rod and a second support rod; the first end of the first support rod is connected to the 12-rotation joint R12, and the second end of the first support rod is connected to the rod body of the second support rod; the first end of the second support rod is connected to the first connecting unit, and the second end of the second support rod is connected to the third connecting unit. The first support is a broken-line connecting rod with a single inflection point; The sixth link assembly includes a third link, a fourth link, and a fifth link; the body of the third link is connected to the body of the fifth link through the fourth link; the first end of the third link is connected to the first connecting unit, and the second end of the third link is connected to the third connecting unit; the first end of the fifth link is connected to the second connecting unit, and the second end of the fifth link is connected to the fourth connecting unit. The fourth link is a broken-line connecting rod with one inflection point.

[0008] The first connecting unit includes a thirteenth rotary joint R13, a fourth connecting rod, and a fourteenth rotary joint R14 connected in sequence; the fourteenth rotary joint R14 is also connected to the first end of the third support rod, and the thirteenth rotary joint R13 is also connected to the first end of the second support rod. The second connecting unit includes a seventeenth rotary joint R17, a seventh connecting rod, and an eighteenth rotary joint R18 connected in sequence; the eighteenth rotary joint R18 is also connected to the moving platform, and the seventeenth rotary joint R17 is also connected to the first end of the fifth support rod. The third connecting unit includes a sixteenth rotary joint R16, a fifth connecting rod, and a fifteenth rotary joint R15 connected in sequence; the fifteenth rotary joint R15 is also connected to the second end of the third support rod, and the sixteenth rotary joint R16 is also connected to the second end of the second support rod. The fourth connecting unit includes a first 20-rotational joint R120, an eighth link, and a nineteenth rotational joint R19 connected in sequence; the nineteenth rotational joint R19 is also connected to the moving platform, and the first 20-rotational joint R120 is also connected to the second end of the fifth support rod.

[0009] The second kinematic chain includes a 21st sliding joint P21, a 9th link, a 22nd ball joint S22, a 10th link, and a 23rd ball joint S23 connected in sequence; the 23rd ball joint S23 is also connected to the body of the first support rod, and the 21st sliding joint P21 is also connected to the base; the 21st sliding joint P21 is connected to a motion drive motor.

[0010] The third kinematic chain includes the 31st ball joint S31, the 11th link, the 32nd prismatic joint P32, the 12th link, and the 33rd ball joint S33 connected in sequence; the 33rd ball joint S33 is also connected to the moving platform, and the 31st ball joint S31 is also connected to the base; the 32nd prismatic joint P32 is connected to the moving drive motor.

[0011] The fourth kinematic chain includes the forty-first ball joint S41, the thirteenth link, the forty-second sliding joint P42, the fourteenth link, and the forty-third ball joint S43 connected in sequence; the forty-third ball joint S43 is also connected to the moving platform, and the forty-first ball joint S41 is also connected to the base; the forty-second sliding joint P42 is connected to a moving drive motor.

[0012] The fifth kinematic chain includes a fifth connecting unit, a seventeenth link assembly, a sixth connecting unit, a twentieth link assembly, a seventh connecting unit, a twenty-fifth link assembly, and an eighth connecting unit connected in sequence; the eighth connecting unit is also connected to the moving platform, and the fifth connecting unit is also connected to the base; The seventeenth link assembly is connected to the base by a ninth connecting unit; the seventeenth link assembly is connected to the twentieth link assembly by a tenth connecting unit; the twentieth link assembly is connected to the twentieth link assembly by an eleventh connecting unit; and the twentieth link assembly is connected to the moving platform by a twelfth connecting unit.

[0013] The seventeenth link assembly includes a sixth link, a seventh link, and an eighth link; the body of the sixth link is connected to the body of the eighth link through the seventh link; the first end of the sixth link is connected to the fifth connecting unit, and the second end of the sixth link is connected to the ninth connecting unit; the first end of the eighth link is connected to the sixth connecting unit, and the second end of the eighth link is connected to the tenth motion unit. The seventh link is a polygonal link with two inflection points; The twentieth link assembly includes a ninth link, a tenth link, and an eleventh link; the body of the ninth link is connected to the body of the eleventh link through the tenth link; the first end of the ninth link is connected to the sixth connecting unit, and the second end of the ninth link is connected to the tenth connecting unit; the first end of the eleventh link is connected to the seventh connecting unit, and the second end of the eleventh link is connected to the eleventh connecting unit. The tenth link is a polygonal link with one inflection point; The 25th link assembly includes a 12th link, a 13th link, and a 14th link; the body of the 12th link is connected to the body of the 14th link through the 13th link; the first end of the 12th link is connected to the 7th connecting unit, and the second end of the 12th link is connected to the 11th connecting unit; the first end of the 14th link is connected to the 8th connecting unit, and the second end of the 14th link is connected to the 12th connecting unit.

[0014] The fifth connecting unit includes a fifty-first rotary joint R51, a fifteenth connecting rod, and a fifty-fourth rotary joint R54 connected in sequence; the fifty-fourth rotary joint R54 is also connected to the first end of the sixth support rod, and the fifty-first rotary joint R51 is also connected to the base; The sixth connecting unit includes the fifty-sixth rotary joint R56, the nineteenth link and the fifty-seventh rotary joint R57 connected in sequence; the fifty-seventh rotary joint R57 is also connected to the first end of the ninth support rod, and the fifty-sixth rotary joint R56 is also connected to the first end of the eighth support rod. The seventh connecting unit includes the fifty-ninth rotary joint R59, the twenty-first link, the fifty-zero rotary joint R510, the twenty-second link, and the fifty-first rotary joint R511 connected in sequence; the fifty-first rotary joint R511 is also connected to the first end of the twelfth support rod, and the fifty-ninth rotary joint R59 is also connected to the first end of the eleventh support rod. The eighth connecting unit includes a fifth 15 rotary joint R515, a twenty-sixth link, a fifth 20 rotary joint R520, a twenty-seventh link, and a fifth 19 rotary joint R519 connected in sequence; the fifth 19 rotary joint R519 is also connected to the moving platform, and the fifth 15 rotary joint R515 is also connected to the first end of the fourteenth support rod. The ninth connecting unit includes a fifty-second rotary joint R52, a sixteenth connecting rod, and a fifty-third rotary joint R53 connected in sequence; the fifty-third rotary joint R53 is also connected to the second end of the sixth support rod, and the fifty-second rotary joint R52 is also connected to the base; The tenth connecting unit includes the fifty-fifth rotary joint R55, the eighteenth link 18, and the fifty-eighth rotary joint R58 connected in sequence; the fifty-eighth rotary joint R58 is also connected to the second end of the ninth support rod, and the fifty-fifth rotary joint R55 is also connected to the second end of the eighth support rod. The eleventh connecting unit includes the fifth 14th rotary joint R514, the twenty-fourth link, the fifth 13th rotary joint R513, the twenty-third link, and the fifth 12th rotary joint R512 connected in sequence; the fifth 12th rotary joint R512 is also connected to the second end of the twelfth support rod, and the fifth 14th rotary joint R514 is also connected to the second end of the eleventh support rod. The twelfth connecting unit includes the fifth 16th rotary joint R516, the twenty-ninth link, the fifth 17th rotary joint R517, the twenty-eighth link, and the fifth 18th rotary joint R518 connected in sequence; the fifth 18th rotary joint R518 is also connected to the moving platform, and the fifth 16th rotary joint R516 is also connected to the second end of the fourteenth support rod. The 51st rotary joint R51 is connected to a rotary drive motor; The 52nd rotary joint R52 connects to the auxiliary drive motor.

[0015] The second technical solution adopted in this invention is a driving method for a parallel robot with a two-rotation and two-movement motion mode and a locking mode. The method locks the rotation drive motor connected to the 51st rotary joint R51, locks the movement drive motor connected to the 21st moving joint, locks the movement drive motor connected to the 32nd moving joint P32, locks the movement drive motor connected to the 42nd moving joint P42, and controls the auxiliary drive motor connected to the 52nd rotary joint R52, so that the moving platform has a locking mode. Lock the auxiliary drive motor connected to the 52nd rotary joint R52, and control the rotary drive motor connected to the 51st rotary joint R51, the 21st prismatic joint P21 connected to the prismatic drive motor, the 32nd prismatic joint P32 connected to the prismatic drive motor, and the 42nd prismatic joint P42 connected to the prismatic drive motor, so that the moving platform has a two-rotation and two-prismatic motion mode.

[0016] The beneficial effects of this invention are: (1) The present invention is a parallel robot with a locking mode and a two-rotation and two-movement motion mode. It can maintain the stability of the position and attitude of the moving platform without locking the drive. Through the rigidity of the linkage and the entire robot structure, it resists external forces and effectively reduces the energy loss of the parallel robot with the two-rotation and two-movement motion mode when maintaining a specific position and the impact damage of external forces on the drive motor. It has a positive effect on improving the service life of the robot.

[0017] (2) The present invention is a parallel robot with a locking mode and a two-rotation and two-movement motion mode. Its end effector can switch between the locking mode and the two-rotation and two-movement motion mode when the robot's motion mode is changed. When this type of robot is used for material vibration screening, or in assembly maintenance, standby, especially when it needs to withstand the impact of loading large mass materials, this type of parallel robot has better impact resistance than general parallel robots. In operation scenarios that require high rigidity, high impact resistance, frequent switching between standby and operation, and reduced energy consumption, this type of parallel robot has high application value. Attached Figure Description

[0018] Figure 1The parallel robot of the present invention, which has a locking mode and two rotational and two translational motion modes, is in a mode-changing configuration. Figure 2 The parallel robot of the present invention, which has a locking mode and two rotational and two translational motion modes, is in the locking mode configuration. Figure 3 The parallel robot of the present invention, which has a locking mode and a two-rotation two-movement motion mode, is in the 2R2T mode configuration.

[0019] 1. Base, 2. Second Link, 3. Third Link Assembly, 4. Fourth Link, 5. Fifth Link, 6. Sixth Link Assembly, 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 Assembly, 18. Eighteenth Link, 19. Nineteenth Link, 20. Twentieth Link Assembly, 21. Twenty-first Link, 22. Twenty-second Link, 23. Twenty-third Link, 24. Twenty-fourth Link, 25. Twenty-fifth Link Assembly, 26. Twenty-sixth Link, 27. Twenty-seventh Link, 28. Twenty-eighth Link, 29. Twenty-ninth Link, 30. Moving Platform; 3-1. First support rod; 3-2. Second support rod; 6-1. Third support rod, 6-2. Fourth support rod, 6-3. Fifth support rod; 17-1. Sixth pole; 17-2. Seventh pole; 17-3. Eighth pole; 20-1. Ninth pole; 20-2. Tenth pole; 20-3. Eleventh pole; 25-1. Twelfth pole, 25-2. Thirteenth pole, 25-3. Fourteenth pole. Detailed Implementation

[0020] The present invention will now be described in detail with reference to the accompanying drawings and specific embodiments.

[0021] The present invention provides a parallel robot with a locking mode and two rotational and two traversal motion modes, including a base 1 and a moving platform 30, wherein a first kinematic chain is connected between the base 1 and the moving platform 30. The first kinematic chain includes an eleventh revolute joint R11, a second link 2, a twelfth revolute joint R12, a third link assembly 3, a first connecting unit, a sixth link assembly 6, and a second connecting unit connected in sequence. The second connecting unit is also connected to the moving platform 30, and the eleventh revolute joint R11 is also connected to the base 1. A third connecting unit is also connected between the third link assembly 3 and the sixth link assembly 6, and a fourth connecting unit is also connected between the sixth link assembly 6 and the moving platform 30. A second kinematic chain is also connected between the third link assembly 3 and the base 1. A third kinematic chain, a fourth kinematic chain, and a fifth kinematic chain are also connected between the base 1 and the moving platform 30.

[0022] The third link assembly 3 includes a first support rod 3-1 and a second support rod 3-2; the first end of the first support rod 3-1 is connected to the twelfth revolute joint R12, and the second end of the first support rod 3-1 is connected to the rod body of the second support rod 3-2; the first end of the second support rod 3-2 is connected to the first connecting unit, and the second end of the second support rod 3-2 is connected to the third connecting unit. The first support rod 3-1 is a broken-line connecting rod with one inflection point; The sixth link assembly 6 includes a third support rod 6-1, a fourth support rod 6-2, and a fifth support rod 6-3; the body of the third support rod 6-1 is connected to the body of the fifth support rod 6-3 through the fourth support rod 6-2; the first end of the third support rod 6-1 is connected to the first connecting unit, and the second end of the third support rod 6-1 is connected to the third connecting unit; the first end of the fifth support rod 6-3 is connected to the second connecting unit, and the second end of the fifth support rod 6-3 is connected to the fourth connecting unit. The fourth support rod 6-2 is a broken line connecting rod with one inflection point.

[0023] The first connecting unit includes a thirteenth rotary joint R13, a fourth connecting rod 4, and a fourteenth rotary joint R14 connected in sequence; the fourteenth rotary joint R14 is also connected to the first end of the third support rod 6-1, and the thirteenth rotary joint R13 is also connected to the first end of the second support rod 3-2. The second connecting unit includes a seventeenth rotary joint R17, a seventh link 7, and an eighteenth rotary joint R18 connected in sequence; the eighteenth rotary joint R18 is also connected to the moving platform 30, and the seventeenth rotary joint R17 is also connected to the first end of the fifth support rod 6-3. The third connecting unit includes a sixteenth rotary joint R16, a fifth connecting rod 5, and a fifteenth rotary joint R15 connected in sequence; the fifteenth rotary joint R15 is also connected to the second end of the third support rod 6-1, and the sixteenth rotary joint R16 is also connected to the second end of the second support rod 3-2. The fourth connecting unit includes a first 20-rotational joint R120, an eighth link 8, and a nineteenth rotational joint R19 connected in sequence; the nineteenth rotational joint R19 is also connected to the moving platform 30, and the first 20-rotational joint R120 is also connected to the second end of the fifth support rod 6-3.

[0024] The second kinematic chain includes a 21st prismatic joint P21, a 9th link 9, a 22nd ball joint S22, a 10th link 10, and a 23rd ball joint S23 connected in sequence; the 23rd ball joint S23 is also connected to the body of the first support 3-1, and the 21st prismatic joint P21 is also connected to the base 1; the 21st prismatic joint P21 is connected to a motion drive motor.

[0025] The third kinematic chain includes the 31st ball joint S31, the 11th link 11, the 32nd prismatic joint P32, the 12th link 12, and the 33rd ball joint S33 connected in sequence; the 33rd ball joint S33 is also connected to the moving platform 30, and the 31st ball joint S31 is also connected to the base 1; the 32nd prismatic joint P32 is connected to the moving drive motor.

[0026] The fourth kinematic chain includes the forty-first ball joint S41, the thirteenth link 13, the forty-second sliding joint P42, the fourteenth link 14, and the forty-third ball joint S43 connected in sequence; the forty-third ball joint S43 is also connected to the moving platform 30, and the forty-first ball joint S41 is also connected to the base 1; the forty-second sliding joint P42 is connected to a moving drive motor.

[0027] The fifth kinematic chain includes a fifth connecting unit, a seventeenth link assembly 17, a sixth connecting unit, a twentieth link assembly 20, a seventh connecting unit, a twenty-fifth link assembly 25, and an eighth connecting unit connected in sequence; the eighth connecting unit is also connected to the moving platform 30, and the fifth connecting unit is also connected to the base 1; A ninth connecting unit is also connected between the seventeenth link assembly 17 and the base 1; a tenth connecting unit is also connected between the seventeenth link assembly 17 and the twentieth link assembly 20; an eleventh connecting unit is also connected between the twentieth link assembly 20 and the twenty-fifth link assembly 25; and a twelfth connecting unit is also connected between the twenty-fifth link assembly 25 and the moving platform 30.

[0028] The seventeenth link assembly 17 includes a sixth link 17-1, a seventh link 17-2, and an eighth link 17-3; the body of the sixth link 17-1 is connected to the body of the eighth link 17-3 through the seventh link 17-2; the first end of the sixth link 17-1 is connected to the fifth connecting unit, and the second end of the sixth link 17-1 is connected to the ninth connecting unit; the first end of the eighth link 17-3 is connected to the sixth connecting unit, and the second end of the eighth link 17-3 is connected to the tenth motion unit. The seventh link 17-2 is a polygonal link with two inflection points; The twentieth link assembly 20 includes a ninth link 20-1, a tenth link 20-2, and an eleventh link 20-3; the body of the ninth link 20-1 is connected to the body of the eleventh link 20-3 through the tenth link 20-2; the first end of the ninth link 20-1 is connected to the sixth connecting unit, and the second end of the ninth link 20-1 is connected to the tenth connecting unit; the first end of the eleventh link 20-3 is connected to the seventh connecting unit, and the second end of the eleventh link 20-3 is connected to the eleventh connecting unit. The tenth link, 20-2, is a polygonal link with one inflection point; The 25th link assembly 25 includes a 12th link 25-1, a 13th link 25-2, and a 14th link 25-3; the body of the 12th link 25-1 is connected to the body of the 14th link 25-3 through the 13th link 25-2; the first end of the 12th link 25-1 is connected to the 7th connecting unit, and the second end of the 12th link 25-1 is connected to the 11th connecting unit; the first end of the 14th link 25-3 is connected to the 8th connecting unit, and the second end of the 14th link 25-3 is connected to the 12th connecting unit.

[0029] The fifth connecting unit includes a fifty-first rotary joint R51, a fifteenth connecting rod 15, and a fifty-fourth rotary joint R54 connected in sequence; the fifty-fourth rotary joint R54 is also connected to the first end of the sixth support rod 17-1, and the fifty-first rotary joint R51 is also connected to the base 1. The sixth connecting unit includes the fifty-sixth rotary joint R56, the nineteenth link 19, and the fifty-seventh rotary joint R57 connected in sequence; the fifty-seventh rotary joint R57 is also connected to the first end of the ninth support rod 20-1, and the fifty-sixth rotary joint R56 is also connected to the first end of the eighth support rod 17-3. The seventh connecting unit includes the fifty-ninth rotary joint R59, the twenty-first link 21, the fifty-zero rotary joint R510, the twenty-second link 22, and the fifty-first rotary joint R511 connected in sequence; the fifty-first rotary joint R511 is also connected to the first end of the twelfth support rod 25-1, and the fifty-ninth rotary joint R59 is also connected to the first end of the eleventh support rod 20-3; The eighth connecting unit includes a fifth 15 rotary joint R515, a twenty-sixth link 26, a fifth 20 rotary joint R520, a twenty-seventh link 27, and a fifth 19 rotary joint R519 connected in sequence; the fifth 19 rotary joint R519 is also connected to the moving platform 30, and the fifth 15 rotary joint R515 is also connected to the first end of the fourteenth support rod 25-3. The ninth connecting unit includes the fifty-second rotary joint R52, the sixteenth connecting rod 16, and the fifty-third rotary joint R53 connected in sequence; the fifty-third rotary joint R53 is also connected to the second end of the sixth support rod 17-1, and the fifty-second rotary joint R52 is also connected to the base 1. The tenth connecting unit includes the fifty-fifth rotary joint R55, the eighteenth link 18 and the fifty-eighth rotary joint R58 connected in sequence; the fifty-eighth rotary joint R58 is also connected to the second end of the ninth support rod 20-1, and the fifty-fifth rotary joint R55 is also connected to the second end of the eighth support rod 17-3. The eleventh connecting unit includes the fifth 14th rotary joint R514, the twenty-fourth connecting rod 24, the fifth 13th rotary joint R513, the twenty-third connecting rod 23, and the fifth 12th rotary joint R512 connected in sequence; the fifth 12th rotary joint R512 is also connected to the second end of the twelfth support rod 25-1, and the fifth 14th rotary joint R514 is also connected to the second end of the eleventh support rod 20-3; The twelfth connecting unit includes the fifth 16th rotary joint R516, the twenty-ninth link 29, the fifth 17th rotary joint R517, the twenty-eighth link 28, and the fifth 18th rotary joint R518 connected in sequence; the fifth 18th rotary joint R518 is also connected to the moving platform 30, and the fifth 16th rotary joint R516 is also connected to the second end of the fourteenth support rod 25-3. The 51st rotary joint R51 is connected to a rotary drive motor; The 52nd rotary joint R52 connects to the auxiliary drive motor.

[0030] This invention also provides a driving method for the above-mentioned parallel robot with a locking mode and two rotational and two kinetic motion modes, specifically: Lock the rotary drive motor connected to the 51st rotary joint R51, lock the motion drive motor connected to the 21st sliding joint, lock the motion drive motor connected to the 32nd sliding joint P32, lock the motion drive motor connected to the 42nd sliding joint P42, and control the auxiliary drive motor connected to the 52nd rotary joint R52 to enable the moving platform 30 to have a locking mode. Lock the auxiliary drive motor connected to the 52nd rotary joint R52, and control the rotary drive motor connected to the 51st rotary joint R51, the 21st prismatic joint P21, the 32nd prismatic joint P32, and the 42nd prismatic joint P42, so that the moving platform 30 has two rotational and two prismatic motion modes; control the rotary drive motor connected to the 51st rotary joint R51, the prismatic drive motor connected to the 21st prismatic joint P21, the prismatic drive motor connected to the 32nd prismatic joint P32, and the prismatic drive motor connected to the 42nd prismatic joint P42, so that the moving platform 30 can rotate with two degrees of freedom around the two axes of the 11th rotary joint R11 and the 12th rotary joint R12, and the moving platform 30 relative to the 6th link assembly 6, and the 6th link assembly 6 relative to the 3rd link assembly 3 ... like Figure 1As shown, the second link 2 is rotatably connected to the base 1 via the eleventh revolute joint R11; the second link 2 is rotatably connected to the first support 3-1 via the twelfth revolute joint R12; the second support 3-2 is rotatably connected to the fourth link 4 via the thirteenth revolute joint R13; the fourth link 4 is rotatably connected to the third support 6-1 via the fourteenth revolute joint R14; the third support 6-1 is also rotatably connected to the fifth link 5 via the fifteenth revolute joint R15; and the fifth link 5 is rotatably connected to the second support 3-2 via the sixteenth revolute joint R16. The fifth support 6-3 is rotatably connected to the seventh link 7 via the seventeenth revolute joint R17; and the seventh link 7 is rotatably connected to the moving platform 30 via the eighteenth revolute joint R18. The eighth link 8 is rotatably connected to the moving platform 30 via the nineteenth revolute joint R19; and the eighth link 8 is rotatably connected to the fifth support 6-3 via the first twenty-ninth revolute joint R120.

[0031] The ninth link 9 is movably connected to the base 1 via the twenty-first sliding joint P21. The tenth link 10 is connected to the ball joint of the ninth link 9 via the twenty-second ball joint S22. The tenth link 10 is connected to the ball joint of the first support 3-1 via the twenty-third ball joint S23.

[0032] The eleventh link 11 is rotatably connected to the base 1 via the thirty-first ball joint S31, and the twelfth link 12 is movably connected to the eleventh link 11 via the thirty-second sliding joint P32. The twelfth link 12 is connected to the moving platform 30 via the thirty-third ball joint S33.

[0033] The thirteenth link 13 is connected to the base 1 ball joint via the forty-first ball joint S41. The fourteenth link 14 is movably connected to the thirteenth link 13 via the forty-second sliding joint P42. The fourteenth link 14 is connected to the moving platform 30 ball joint via the forty-third ball joint S43.

[0034] The fifteenth link 15 is rotatably connected to the base 1 via the fifty-first revolute joint R51. The sixth link 17-1 is rotatably connected to the fifteenth link 15 via the fifty-fourth revolute joint R54. The sixth link 17-1 is also rotatably connected to the sixteenth link 16 via the fifty-third revolute joint R53. The sixteenth link 16 is rotatably connected to the base 1 via the fifty-second revolute joint R52. The eighth link 17-3 is rotatably connected to the nineteenth link 19 via the fifty-sixth revolute joint R56. The nineteenth link 19 is rotatably connected to the ninth link 20-1 via the fifty-seventh revolute joint R57. The ninth link 20-1 is also rotatably connected to the eighteenth link 18 via the fifty-eighth revolute joint R58. The eighteenth link 18 is rotatably connected to the eighth link 17-3 via the fifty-fifth revolute joint R55.

[0035] The eleventh link 20-3 is rotatably connected to the twenty-first link 21 via the fifty-ninth revolute joint R59. The twenty-first link 21 is rotatably connected to the twenty-second link 22 via the fifth-first-zero revolute joint R510. The twenty-second link 22 is rotatably connected to the twelfth link 25-1 via the fifth-first-one revolute joint R511. The twelfth link 25-1 is also rotatably connected to the twenty-third link 23 via the fifth-first-two revolute joint R512. The twenty-third link 23 is rotatably connected to the twenty-fourth link 24 via the fifth-first-three revolute joint R513. The twenty-fourth link 24 is rotatably connected to the eleventh link 20-3 via the fifth-first-four revolute joint R514.

[0036] The fourteenth link 25-3 is rotatably connected to the twenty-sixth link 26 via the fifth 15th revolute joint R515. The twenty-sixth link 26 is rotatably connected to the twenty-seventh link 27 via the fifth 20th revolute joint R520. The twenty-seventh link 27 is rotatably connected to the moving platform 30 via the fifth 19th revolute joint R519. The moving platform 30 is rotatably connected to the twenty-eighth link 28 via the fifth 18th revolute joint R518. The twenty-eighth link is rotatably connected to the twenty-ninth link 29 via the fifth 17th revolute joint R517. The twenty-ninth link is rotatably connected to the fourteenth link 25-3 via the fifth 16th revolute joint R516.

[0037] Figure 1 In the configuration shown, the axes of the eleventh revolute joint R11, the fifty-first revolute joint R51, and the fifty-third revolute joint R53 coincide, and these axes are parallel to the direction of movement of the prismatic joint P21.

[0038] Figure 1 In the configuration shown, the axes of the twelfth revolute joint R12, the fifty-eighth revolute joint R58, and the fifty-sixth revolute joint R56 coincide.

[0039] Figure 1 In the configuration shown, the axis of the 52nd revolute joint R52 coincides with the axis of the 54th revolute joint R54.

[0040] Figure 1 In the configuration shown, the axis of the 55th revolute joint R55 coincides with the axis of the 57th revolute joint R57.

[0041] Figure 1 In the configuration shown, the axis of the fifth 11th revolute joint R511 coincides with the axis of the fifth 13th revolute joint R513.

[0042] Figure 1 In the configuration shown, the axis of the fifth 19th revolute joint R519 coincides with the axis of the fifth 17th revolute joint R517.

[0043] Figure 1In the configuration shown, the axes of the thirteenth revolute joint R13, the fourteenth revolute joint R14, the fifteenth revolute joint R15, the sixteenth revolute joint R16, the fifty-ninth revolute joint R59, the fifty-first revolute joint R510, the fifty-second revolute joint R512, and the fifty-fourth revolute joint R514 are parallel.

[0044] Figure 1 In the configuration shown, the axes of the seventeenth revolute joint R17, the eighteenth revolute joint R18, the nineteenth revolute joint R19, the first twenty-zero revolute joint R120, the fifth one five revolute joint R515, the fifth one six revolute joint R516, the fifth one eighteenth revolute joint R518, and the fifth twenty-zero revolute joint R520 are parallel.

[0045] Figure 1 In the configuration shown, the distances from the axis of the thirteenth revolute joint R13 to the axis of the sixteenth revolute joint R16, the distances from the axis of the fourteenth revolute joint R14 to the axis of the fifteenth revolute joint R15, the distances from the axis of the fifty-ninth revolute joint R59 to the axis of the fifty-fourth revolute joint R514, and the distances from the axis of the fifty-first revolute joint R510 to the axis of the fifty-second revolute joint R512 are all the same.

[0046] Figure 1 In the configuration shown, the planes containing the axes of the 59th revolute joint R59 and the 510th revolute joint R510, the 512th revolute joint R512 and the 514th revolute joint R514, the 13th revolute joint R13 and the 14th revolute joint R14, and the 15th revolute joint R15 and the 16th revolute joint R16 are all parallel.

[0047] Figure 1 In the configuration shown, the planes containing the axes of the thirteenth revolute joint R13 and the sixteenth revolute joint R16, the fourteenth revolute joint R14 and the fifteenth revolute joint R15, the fifty-ninth revolute joint R59 and the fifty-fourth revolute joint R514, and the fifty-first revolute joint R510 and the fifty-second revolute joint R512 are all parallel.

[0048] Figure 1 In the configuration shown, the distances from the axis of the seventeenth revolute joint R17 to the axis of the first 20th revolute joint R120, the distance from the axis of the eighteenth revolute joint R18 to the axis of the nineteenth revolute joint R19, the distance from the axis of the fifth 15th revolute joint R515 to the axis of the fifth 16th revolute joint R516, and the distance from the axis of the fifth 20th revolute joint R520 to the axis of the fifth 18th revolute joint R518 are all equal.

[0049] Figure 1In the structural configuration shown, the distances from the axis of the seventeenth revolute joint R17 to the axis of the eighteenth revolute joint R18, the distance from the axis of the first twenty-zero revolute joint R120 to the axis of the nineteenth revolute joint R19, the distance from the axis of the fifth one five revolute joint R515 to the axis of the fifth twenty-zero revolute joint R520, and the distance from the axis of the fifth one six revolute joint R516 to the axis of the fifth one eight revolute joint R518 are all equal.

[0050] Figure 1 In the configuration shown, the planes containing the axes of the seventeenth revolute joint R17 and the eighteenth revolute joint R18, the planes containing the axes of the first 20th revolute joint R120 and the nineteenth revolute joint R19, the planes containing the axes of the fifth 16th revolute joint R516 and the fifth 18th revolute joint R518, and the planes containing the axes of the fifth 15th revolute joint R515 and the fifth 20th revolute joint R520 are all parallel.

[0051] Figure 1 In the configuration shown, the planes containing the axes of the seventeenth revolute joint R17 and the first 20th revolute joint R120, the fifth 15th revolute joint R515 and the fifth 16th revolute joint R516, the eighteenth revolute joint R18 and the nineteenth revolute joint R19, and the fifth 20th revolute joint R520 and the fifth 18th revolute joint R518 are all parallel.

[0052] Figure 1 In the configuration shown, the 51st rotary joint R51 is connected to a rotary drive motor, the 21st prismatic joint P21 is connected to a prismatic drive motor, the 32nd prismatic joint P32 is connected to a prismatic drive motor, and the 42nd prismatic joint P42 is connected to a prismatic drive motor.

[0053] Figure 1 In the configuration shown, the fifty-second rotary joint R52 is connected to an auxiliary drive motor.

[0054] Figure 1 In the configuration shown, locking the rotary drive motor connected to the 51st rotary joint R51, locking the motion drive motor connected to the 21st sliding joint, locking the motion drive motor connected to the 32nd sliding joint P32, locking the motion drive motor connected to the 42nd sliding joint P42, and controlling the auxiliary drive motor connected to the 52nd rotary joint R52, allows... Figure 1 The configuration transformation of the shown mechanism to Figure 2 The configuration of the mechanism is shown.

[0055] Figure 2 In the configuration shown, the axis of the 52nd revolute joint R52 coincides with the axis of the 54th revolute joint R54, and the axis of the 51st revolute joint R51 intersects with the axis of the 53rd revolute joint R53.

[0056] Figure 2 In the configuration shown, the axis of the 55th revolute joint R55 coincides with the axis of the 57th revolute joint R57, and the axis of the 56th revolute joint R56 intersects with the axis of the 58th revolute joint R58.

[0057] Figure 2 In the configuration shown, the axis of the fifth 11th revolute joint R511 coincides with the axis of the fifth 13th revolute joint R513. The axes of the fifth 10th revolute joint R510, the fifty-ninth revolute joint R59, and the fifth 14th revolute joint R514 are parallel, but not parallel to the axis of the fifth 12th revolute joint R512.

[0058] Figure 2 In the configuration shown, the axis of the fifth 19th revolute joint R519 coincides with the axis of the fifth 17th revolute joint R517. The axes of the fifth 20th revolute joint R520, the fifth 15th revolute joint R515, and the fifth 16th revolute joint R516 are parallel, but not parallel to the axis of the fifth 18th revolute joint R518.

[0059] Figure 2 In the configuration shown, the moving platform 30 has a locked mode, without locking the rotary drive motor connected to the 51st rotary joint R51, the motion drive motor connected to the 21st sliding joint P21, the motion drive motor connected to the 32nd sliding joint P32, the motion drive motor connected to the 42nd sliding joint P42, and the auxiliary drive motor connected to the 52nd rotary joint R52. The moving platform 30 is still in the locked mode.

[0060] Figure 1 In the configuration shown, locking the auxiliary drive motor connected to the 52nd revolute joint R52, and controlling the rotary drive motor connected to the 51st revolute joint R51, the 21st prismatic joint P21 connected to the prismatic drive motor, the 32nd prismatic joint P32 connected to the prismatic drive motor, and the 42nd prismatic joint P42 connected to the prismatic drive motor, allows the mechanism to move to... Figure 3 The configuration of the mechanism is shown.

[0061] Figure 3 In the configuration shown, the moving platform 30 has two rotational and two translational motion modes. The moving platform 30 has two degrees of freedom of rotation about the eleventh revolute joint R11 and the twelfth revolute joint R12, and two degrees of freedom of surface translation motion modes of the moving platform 30 relative to the sixth link assembly 6 and the sixth link assembly 6 relative to the third link assembly 3.

[0062] Figure 3 In the configuration shown, the axis of the fifth 11th revolute joint R511 intersects the axis of the fifth 13th revolute joint R513; the axis of the fifth 19th revolute joint R519 intersects the axis of the fifth 17th revolute joint R517.

[0063] Figure 3In the configuration shown, the axes of the 59th revolute joint R59, the 510th revolute joint R510, the 512th revolute joint R512, and the 514th revolute joint R514 are parallel.

[0064] Figure 3 In the configuration shown, the axes of the fifth 15th revolute joint R515, the fifth 20th revolute joint R520, the fifth 18th revolute joint R518, and the fifth 16th revolute joint R516 are parallel.

[0065] Figure 3 In the configuration shown, the axis of the 51st revolute joint R51 coincides with the axis of the 53rd revolute joint R53. The axis of the 52nd revolute joint R52 coincides with the axis of the 54th revolute joint R54.

[0066] Figure 3 In the configuration shown, the axis of the 56th revolute joint R56 coincides with the axis of the 58th revolute joint R58. The axis of the 55th revolute joint R55 coincides with the axis of the 57th revolute joint R57.

[0067] Figure 3 In the configuration shown, controlling the rotary drive motor connected to the 51st rotary joint R51, the traverse drive motor connected to the 21st prismatic joint P21, the traverse drive motor connected to the 32nd prismatic joint P32, and the traverse drive motor connected to the 42nd prismatic joint P42 can control the two-degree-of-freedom rotation of the moving platform 30 around the two axes of the 11th rotary joint R11 and the 12th rotary joint R12, as well as the two-degree-of-freedom curved surface movement motion mode of the moving platform 30 relative to the 6th link assembly 6 and the 6th link assembly 6 relative to the 3rd link assembly 3.

[0068] Example 1 A parallel robot with a locking mode and two rotational and two traversal motion modes includes a base 1 and a moving platform 30, and a first kinematic chain is connected between the base 1 and the moving platform 30. The first kinematic chain includes an eleventh revolute joint R11, a second link 2, a twelfth revolute joint R12, a third link assembly 3, a first connecting unit, a sixth link assembly 6, and a second connecting unit connected in sequence. The second connecting unit is also connected to the moving platform 30, and the eleventh revolute joint R11 is also connected to the base 1. A third connecting unit is also connected between the third link assembly 3 and the sixth link assembly 6, and a fourth connecting unit is also connected between the sixth link assembly 6 and the moving platform 30. A second kinematic chain is also connected between the third link assembly 3 and the base 1. A third kinematic chain, a fourth kinematic chain, and a fifth kinematic chain are also connected between the base 1 and the moving platform 30.

[0069] Example 2 A parallel robot with a locking mode and two rotational and two traversal motion modes includes a base 1 and a moving platform 30, and a first kinematic chain is connected between the base 1 and the moving platform 30. The first kinematic chain includes an eleventh revolute joint R11, a second link 2, a twelfth revolute joint R12, a third link assembly 3, a first connecting unit, a sixth link assembly 6, and a second connecting unit connected in sequence. The second connecting unit is also connected to the moving platform 30, and the eleventh revolute joint R11 is also connected to the base 1. A third connecting unit is also connected between the third link assembly 3 and the sixth link assembly 6, and a fourth connecting unit is also connected between the sixth link assembly 6 and the moving platform 30. A second kinematic chain is also connected between the third link assembly 3 and the base 1. A third kinematic chain, a fourth kinematic chain, and a fifth kinematic chain are also connected between the base 1 and the moving platform 30.

[0070] The third link assembly 3 includes a first support rod 3-1 and a second support rod 3-2; the first end of the first support rod 3-1 is connected to the twelfth revolute joint R12, and the second end of the first support rod 3-1 is connected to the rod body of the second support rod 3-2; the first end of the second support rod 3-2 is connected to the first connecting unit, and the second end of the second support rod 3-2 is connected to the third connecting unit. The first support rod 3-1 is a broken-line connecting rod with one inflection point; The sixth link assembly 6 includes a third support rod 6-1, a fourth support rod 6-2, and a fifth support rod 6-3; the body of the third support rod 6-1 is connected to the body of the fifth support rod 6-3 through the fourth support rod 6-2; the first end of the third support rod 6-1 is connected to the first connecting unit, and the second end of the third support rod 6-1 is connected to the third connecting unit; the first end of the fifth support rod 6-3 is connected to the second connecting unit, and the second end of the fifth support rod 6-3 is connected to the fourth connecting unit. The fourth support rod 6-2 is a broken line connecting rod with one inflection point.

[0071] Example 3 A parallel robot with a locking mode and two rotational and two traversal motion modes includes a base 1 and a moving platform 30, and a first kinematic chain is connected between the base 1 and the moving platform 30. The first kinematic chain includes an eleventh revolute joint R11, a second link 2, a twelfth revolute joint R12, a third link assembly 3, a first connecting unit, a sixth link assembly 6, and a second connecting unit connected in sequence. The second connecting unit is also connected to the moving platform 30, and the eleventh revolute joint R11 is also connected to the base 1. A third connecting unit is also connected between the third link assembly 3 and the sixth link assembly 6, and a fourth connecting unit is also connected between the sixth link assembly 6 and the moving platform 30. A second kinematic chain is also connected between the third link assembly 3 and the base 1. A third kinematic chain, a fourth kinematic chain, and a fifth kinematic chain are also connected between the base 1 and the moving platform 30.

[0072] The third link assembly 3 includes a first support rod 3-1 and a second support rod 3-2; the first end of the first support rod 3-1 is connected to the twelfth revolute joint R12, and the second end of the first support rod 3-1 is connected to the rod body of the second support rod 3-2; the first end of the second support rod 3-2 is connected to the first connecting unit, and the second end of the second support rod 3-2 is connected to the third connecting unit. The first support rod 3-1 is a broken-line connecting rod with one inflection point; The sixth link assembly 6 includes a third support rod 6-1, a fourth support rod 6-2, and a fifth support rod 6-3; the body of the third support rod 6-1 is connected to the body of the fifth support rod 6-3 through the fourth support rod 6-2; the first end of the third support rod 6-1 is connected to the first connecting unit, and the second end of the third support rod 6-1 is connected to the third connecting unit; the first end of the fifth support rod 6-3 is connected to the second connecting unit, and the second end of the fifth support rod 6-3 is connected to the fourth connecting unit. The fourth support rod 6-2 is a broken line connecting rod with one inflection point.

[0073] The first connecting unit includes a thirteenth rotary joint R13, a fourth connecting rod 4, and a fourteenth rotary joint R14 connected in sequence; the fourteenth rotary joint R14 is also connected to the first end of the third support rod 6-1, and the thirteenth rotary joint R13 is also connected to the first end of the second support rod 3-2. The second connecting unit includes a seventeenth rotary joint R17, a seventh link 7, and an eighteenth rotary joint R18 connected in sequence; the eighteenth rotary joint R18 is also connected to the moving platform 30, and the seventeenth rotary joint R17 is also connected to the first end of the fifth support rod 6-3. The third connecting unit includes a sixteenth rotary joint R16, a fifth connecting rod 5, and a fifteenth rotary joint R15 connected in sequence; the fifteenth rotary joint R15 is also connected to the second end of the third support rod 6-1, and the sixteenth rotary joint R16 is also connected to the second end of the second support rod 3-2. The fourth connecting unit includes a first 20-rotational joint R120, an eighth link 8, and a nineteenth rotational joint R19 connected in sequence; the nineteenth rotational joint R19 is also connected to the moving platform 30, and the first 20-rotational joint R120 is also connected to the second end of the fifth support rod 6-3.

[0074] Example 4 A parallel robot with a locking mode and two rotational and two traversal motion modes includes a base 1 and a moving platform 30, and a first kinematic chain is connected between the base 1 and the moving platform 30. The first kinematic chain includes an eleventh revolute joint R11, a second link 2, a twelfth revolute joint R12, a third link assembly 3, a first connecting unit, a sixth link assembly 6, and a second connecting unit connected in sequence. The second connecting unit is also connected to the moving platform 30, and the eleventh revolute joint R11 is also connected to the base 1. A third connecting unit is also connected between the third link assembly 3 and the sixth link assembly 6, and a fourth connecting unit is also connected between the sixth link assembly 6 and the moving platform 30. A second kinematic chain is also connected between the third link assembly 3 and the base 1. A third kinematic chain, a fourth kinematic chain, and a fifth kinematic chain are also connected between the base 1 and the moving platform 30.

[0075] The third link assembly 3 includes a first support rod 3-1 and a second support rod 3-2; the first end of the first support rod 3-1 is connected to the twelfth revolute joint R12, and the second end of the first support rod 3-1 is connected to the rod body of the second support rod 3-2; the first end of the second support rod 3-2 is connected to the first connecting unit, and the second end of the second support rod 3-2 is connected to the third connecting unit. The first support rod 3-1 is a broken-line connecting rod with one inflection point; The sixth link assembly 6 includes a third support rod 6-1, a fourth support rod 6-2, and a fifth support rod 6-3; the body of the third support rod 6-1 is connected to the body of the fifth support rod 6-3 through the fourth support rod 6-2; the first end of the third support rod 6-1 is connected to the first connecting unit, and the second end of the third support rod 6-1 is connected to the third connecting unit; the first end of the fifth support rod 6-3 is connected to the second connecting unit, and the second end of the fifth support rod 6-3 is connected to the fourth connecting unit. The fourth support rod 6-2 is a broken line connecting rod with one inflection point.

[0076] The first connecting unit includes a thirteenth rotary joint R13, a fourth connecting rod 4, and a fourteenth rotary joint R14 connected in sequence; the fourteenth rotary joint R14 is also connected to the first end of the third support rod 6-1, and the thirteenth rotary joint R13 is also connected to the first end of the second support rod 3-2. The second connecting unit includes a seventeenth rotary joint R17, a seventh link 7, and an eighteenth rotary joint R18 connected in sequence; the eighteenth rotary joint R18 is also connected to the moving platform 30, and the seventeenth rotary joint R17 is also connected to the first end of the fifth support rod 6-3. The third connecting unit includes a sixteenth rotary joint R16, a fifth connecting rod 5, and a fifteenth rotary joint R15 connected in sequence; the fifteenth rotary joint R15 is also connected to the second end of the third support rod 6-1, and the sixteenth rotary joint R16 is also connected to the second end of the second support rod 3-2. The fourth connecting unit includes a first 20-rotational joint R120, an eighth link 8, and a nineteenth rotational joint R19 connected in sequence; the nineteenth rotational joint R19 is also connected to the moving platform 30, and the first 20-rotational joint R120 is also connected to the second end of the fifth support rod 6-3.

[0077] The second kinematic chain includes a 21st prismatic joint P21, a 9th link 9, a 22nd ball joint S22, a 10th link 10, and a 23rd ball joint S23 connected in sequence; the 23rd ball joint S23 is also connected to the body of the first support 3-1, and the 21st prismatic joint P21 is also connected to the base 1; the 21st prismatic joint P21 is connected to a motion drive motor.

[0078] Example 5 A parallel robot with a locking mode and two rotational and two traversal motion modes includes a base 1 and a moving platform 30, and a first kinematic chain is connected between the base 1 and the moving platform 30. The first kinematic chain includes an eleventh revolute joint R11, a second link 2, a twelfth revolute joint R12, a third link assembly 3, a first connecting unit, a sixth link assembly 6, and a second connecting unit connected in sequence. The second connecting unit is also connected to the moving platform 30, and the eleventh revolute joint R11 is also connected to the base 1. A third connecting unit is also connected between the third link assembly 3 and the sixth link assembly 6, and a fourth connecting unit is also connected between the sixth link assembly 6 and the moving platform 30. A second kinematic chain is also connected between the third link assembly 3 and the base 1. A third kinematic chain, a fourth kinematic chain, and a fifth kinematic chain are also connected between the base 1 and the moving platform 30.

[0079] The third link assembly 3 includes a first support rod 3-1 and a second support rod 3-2; the first end of the first support rod 3-1 is connected to the twelfth revolute joint R12, and the second end of the first support rod 3-1 is connected to the rod body of the second support rod 3-2; the first end of the second support rod 3-2 is connected to the first connecting unit, and the second end of the second support rod 3-2 is connected to the third connecting unit. The first support rod 3-1 is a broken-line connecting rod with one inflection point; The sixth link assembly 6 includes a third support rod 6-1, a fourth support rod 6-2, and a fifth support rod 6-3; the body of the third support rod 6-1 is connected to the body of the fifth support rod 6-3 through the fourth support rod 6-2; the first end of the third support rod 6-1 is connected to the first connecting unit, and the second end of the third support rod 6-1 is connected to the third connecting unit; the first end of the fifth support rod 6-3 is connected to the second connecting unit, and the second end of the fifth support rod 6-3 is connected to the fourth connecting unit. The fourth support rod 6-2 is a broken line connecting rod with one inflection point.

[0080] The first connecting unit includes a thirteenth rotary joint R13, a fourth connecting rod 4, and a fourteenth rotary joint R14 connected in sequence; the fourteenth rotary joint R14 is also connected to the first end of the third support rod 6-1, and the thirteenth rotary joint R13 is also connected to the first end of the second support rod 3-2. The second connecting unit includes a seventeenth rotary joint R17, a seventh link 7, and an eighteenth rotary joint R18 connected in sequence; the eighteenth rotary joint R18 is also connected to the moving platform 30, and the seventeenth rotary joint R17 is also connected to the first end of the fifth support rod 6-3. The third connecting unit includes a sixteenth rotary joint R16, a fifth connecting rod 5, and a fifteenth rotary joint R15 connected in sequence; the fifteenth rotary joint R15 is also connected to the second end of the third support rod 6-1, and the sixteenth rotary joint R16 is also connected to the second end of the second support rod 3-2. The fourth connecting unit includes a first 20-rotational joint R120, an eighth link 8, and a nineteenth rotational joint R19 connected in sequence; the nineteenth rotational joint R19 is also connected to the moving platform 30, and the first 20-rotational joint R120 is also connected to the second end of the fifth support rod 6-3.

[0081] The second kinematic chain includes a 21st prismatic joint P21, a 9th link 9, a 22nd ball joint S22, a 10th link 10, and a 23rd ball joint S23 connected in sequence; the 23rd ball joint S23 is also connected to the body of the first support 3-1, and the 21st prismatic joint P21 is also connected to the base 1; the 21st prismatic joint P21 is connected to a motion drive motor.

[0082] The third kinematic chain includes the 31st ball joint S31, the 11th link 11, the 32nd prismatic joint P32, the 12th link 12, and the 33rd ball joint S33 connected in sequence; the 33rd ball joint S33 is also connected to the moving platform 30, and the 31st ball joint S31 is also connected to the base 1; the 32nd prismatic joint P32 is connected to the moving drive motor.

[0083] Example 6 A parallel robot with a locking mode and two rotational and two traversal motion modes includes a base 1 and a moving platform 30, and a first kinematic chain is connected between the base 1 and the moving platform 30. The first kinematic chain includes an eleventh revolute joint R11, a second link 2, a twelfth revolute joint R12, a third link assembly 3, a first connecting unit, a sixth link assembly 6, and a second connecting unit connected in sequence. The second connecting unit is also connected to the moving platform 30, and the eleventh revolute joint R11 is also connected to the base 1. A third connecting unit is also connected between the third link assembly 3 and the sixth link assembly 6, and a fourth connecting unit is also connected between the sixth link assembly 6 and the moving platform 30. A second kinematic chain is also connected between the third link assembly 3 and the base 1. A third kinematic chain, a fourth kinematic chain, and a fifth kinematic chain are also connected between the base 1 and the moving platform 30.

[0084] The third link assembly 3 includes a first support rod 3-1 and a second support rod 3-2; the first end of the first support rod 3-1 is connected to the twelfth revolute joint R12, and the second end of the first support rod 3-1 is connected to the rod body of the second support rod 3-2; the first end of the second support rod 3-2 is connected to the first connecting unit, and the second end of the second support rod 3-2 is connected to the third connecting unit. The first support rod 3-1 is a broken-line connecting rod with one inflection point; The sixth link assembly 6 includes a third support rod 6-1, a fourth support rod 6-2, and a fifth support rod 6-3; the body of the third support rod 6-1 is connected to the body of the fifth support rod 6-3 through the fourth support rod 6-2; the first end of the third support rod 6-1 is connected to the first connecting unit, and the second end of the third support rod 6-1 is connected to the third connecting unit; the first end of the fifth support rod 6-3 is connected to the second connecting unit, and the second end of the fifth support rod 6-3 is connected to the fourth connecting unit. The fourth support rod 6-2 is a broken line connecting rod with one inflection point.

[0085] The first connecting unit includes a thirteenth rotary joint R13, a fourth connecting rod 4, and a fourteenth rotary joint R14 connected in sequence; the fourteenth rotary joint R14 is also connected to the first end of the third support rod 6-1, and the thirteenth rotary joint R13 is also connected to the first end of the second support rod 3-2. The second connecting unit includes a seventeenth rotary joint R17, a seventh link 7, and an eighteenth rotary joint R18 connected in sequence; the eighteenth rotary joint R18 is also connected to the moving platform 30, and the seventeenth rotary joint R17 is also connected to the first end of the fifth support rod 6-3. The third connecting unit includes a sixteenth rotary joint R16, a fifth connecting rod 5, and a fifteenth rotary joint R15 connected in sequence; the fifteenth rotary joint R15 is also connected to the second end of the third support rod 6-1, and the sixteenth rotary joint R16 is also connected to the second end of the second support rod 3-2. The fourth connecting unit includes a first 20-rotational joint R120, an eighth link 8, and a nineteenth rotational joint R19 connected in sequence; the nineteenth rotational joint R19 is also connected to the moving platform 30, and the first 20-rotational joint R120 is also connected to the second end of the fifth support rod 6-3.

[0086] The second kinematic chain includes a 21st prismatic joint P21, a 9th link 9, a 22nd ball joint S22, a 10th link 10, and a 23rd ball joint S23 connected in sequence; the 23rd ball joint S23 is also connected to the body of the first support 3-1, and the 21st prismatic joint P21 is also connected to the base 1; the 21st prismatic joint P21 is connected to a motion drive motor.

[0087] The third kinematic chain includes the 31st ball joint S31, the 11th link 11, the 32nd prismatic joint P32, the 12th link 12, and the 33rd ball joint S33 connected in sequence; the 33rd ball joint S33 is also connected to the moving platform 30, and the 31st ball joint S31 is also connected to the base 1; the 32nd prismatic joint P32 is connected to the moving drive motor.

[0088] The fourth kinematic chain includes the forty-first ball joint S41, the thirteenth link 13, the forty-second sliding joint P42, the fourteenth link 14, and the forty-third ball joint S43 connected in sequence; the forty-third ball joint S43 is also connected to the moving platform 30, and the forty-first ball joint S41 is also connected to the base 1; the forty-second sliding joint P42 is connected to a moving drive motor.

Claims

1. A parallel robot with a locking mode and two rotational and two traversal motion modes, characterized in that, It includes a base (1) and a moving platform (30), and a first kinematic chain is connected between the base (1) and the moving platform (30); The first kinematic chain includes an eleventh revolute joint R11, a second link (2), a twelfth revolute joint R12, a third link assembly (3), a first connecting unit, a sixth link assembly (6), and a second connecting unit connected in sequence; the second connecting unit is also connected to the moving platform (30), and the eleventh revolute joint R11 is also connected to the base (1); a third connecting unit is also connected between the third link assembly (3) and the sixth link assembly (6), and a fourth connecting unit is also connected between the sixth link assembly (6) and the moving platform (30); a second kinematic chain is also connected between the third link assembly (3) and the base (1); a third kinematic chain, a fourth kinematic chain, and a fifth kinematic chain are also connected between the base (1) and the moving platform (30); The second kinematic chain includes a 21st sliding joint P21, a 9th link (9), a 22nd ball joint S22, a 10th link (10), and a 23rd ball joint S23 connected in sequence; the 23rd ball joint S23 is also connected to the body of the first support rod (3-1), and the 21st sliding joint P21 is also connected to the base (1); the 21st sliding joint P21 is connected to a sliding drive motor; The third kinematic chain includes a 31st ball joint S31, an 11th link (11), a 32nd locating joint P32, a 12th link (12), and a 33rd ball joint S33 connected in sequence; the 33rd ball joint S33 is also connected to the moving platform (30), and the 31st ball joint S31 is also connected to the base (1); the 32nd locating joint P32 is connected to the moving drive motor; The fourth kinematic chain includes a forty-first ball joint S41, a thirteenth link (13), a forty-second sliding joint P42, a fourteenth link (14), and a forty-third ball joint S43 connected in sequence; the forty-third ball joint S43 is also connected to the moving platform (30), and the forty-first ball joint S41 is also connected to the base (1); the forty-second sliding joint P42 is connected to a moving drive motor; The fifth kinematic chain includes a fifth connecting unit, a seventeenth link assembly (17), a sixth connecting unit, a twentieth link assembly (20), a seventh connecting unit, a twenty-fifth link assembly (25), and an eighth connecting unit connected in sequence; the eighth connecting unit is also connected to the moving platform (30), and the fifth connecting unit is also connected to the base (1); A ninth connecting unit is also connected between the seventeenth link assembly (17) and the base (1); a tenth connecting unit is also connected between the seventeenth link assembly (17) and the twentieth link assembly (20); an eleventh connecting unit is also connected between the twentieth link assembly (20) and the twenty-fifth link assembly (25); and a twelfth connecting unit is also connected between the twenty-fifth link assembly (25) and the moving platform (30). The fifth connecting unit includes a fifty-first rotary joint R51, a fifteenth link (15), and a fifty-fourth rotary joint R54 connected in sequence; The ninth connecting unit includes the fifty-second rotary joint R52, the sixteenth link (16), and the fifty-third rotary joint R53 connected in sequence; The 51st rotary joint R51 is connected to a rotary drive motor; The 52nd rotary joint R52 connects to the auxiliary drive motor.

2. The parallel robot with a locking mode and two rotational and two kinetic motion modes according to claim 1, characterized in that, The third link assembly (3) includes a first support rod (3-1) and a second support rod (3-2); the first end of the first support rod (3-1) is connected to the 12-rotation joint R12, and the second end of the first support rod (3-1) is connected to the rod body of the second support rod (3-2); the first end of the second support rod (3-2) is connected to the first connecting unit, and the second end of the second support rod (3-2) is connected to the third connecting unit. The first support (3-1) is a broken-line connecting rod with one inflection point; The sixth link assembly (6) includes a third link (6-1), a fourth link (6-2), and a fifth link (6-3); the body of the third link (6-1) is connected to the body of the fifth link (6-3) through the fourth link (6-2); the first end of the third link (6-1) is connected to the first connecting unit, and the second end of the third link (6-1) is connected to the third connecting unit; the first end of the fifth link (6-3) is connected to the second connecting unit, and the second end of the fifth link (6-3) is connected to the fourth connecting unit. The fourth link (6-2) is a broken line link with one inflection point.

3. The parallel robot with a locking mode and two rotational and two kinetic motion modes according to claim 2, characterized in that, The first connecting unit includes a thirteenth rotary joint R13, a fourth connecting rod (4) and a fourteenth rotary joint R14 connected in sequence; the fourteenth rotary joint R14 is also connected to the first end of the third support rod (6-1), and the thirteenth rotary joint R13 is also connected to the first end of the second support rod (3-2); The second connecting unit includes a seventeenth rotary joint R17, a seventh link (7) and an eighteenth rotary joint R18 connected in sequence; the eighteenth rotary joint R18 is also connected to the moving platform (30), and the seventeenth rotary joint R17 is also connected to the first end of the fifth support rod (6-3); The third connecting unit includes a sixteenth rotary joint R16, a fifth connecting rod (5), and a fifteenth rotary joint R15 connected in sequence; the fifteenth rotary joint R15 is also connected to the second end of the third support rod (6-1), and the sixteenth rotary joint R16 is also connected to the second end of the second support rod (3-2). The fourth connecting unit includes a first 20-rotation joint R120, an eighth link (8) and a nineteenth rotation joint R19 connected in sequence; the nineteenth rotation joint R19 is also connected to the moving platform (30), and the first 20-rotation joint R120 is also connected to the second end of the fifth support rod (6-3).

4. The parallel robot with a locking mode and two rotational and two kinetic motion modes according to claim 1, characterized in that, The seventeenth link assembly (17) includes a sixth link (17-1), a seventh link (17-2), and an eighth link (17-3); the body of the sixth link (17-1) is connected to the body of the eighth link (17-3) through the seventh link (17-2); the first end of the sixth link (17-1) is connected to the fifth connecting unit, and the second end of the sixth link (17-1) is connected to the ninth connecting unit; the first end of the eighth link (17-3) is connected to the sixth connecting unit, and the second end of the eighth link (17-3) is connected to the tenth motion unit; The seventh link (17-2) is a polygonal link with two inflection points; The twentieth link assembly (20) includes a ninth link (20-1), a tenth link (20-2), and an eleventh link (20-3); the body of the ninth link (20-1) is connected to the body of the eleventh link (20-3) through the tenth link (20-2); the first end of the ninth link (20-1) is connected to the sixth connecting unit, and the second end of the ninth link (20-1) is connected to the tenth connecting unit; the first end of the eleventh link (20-3) is connected to the seventh connecting unit, and the second end of the eleventh link (20-3) is connected to the eleventh connecting unit. The tenth link (20-2) is a polygonal link with one inflection point; The 25th link assembly (25) includes a 12th link (25-1), a 13th link (25-2), and a 14th link (25-3); the body of the 12th link (25-1) is connected to the body of the 14th link (25-3) through the 13th link (25-2); the first end of the 12th link (25-1) is connected to the 7th connecting unit, and the second end of the 12th link (25-1) is connected to the 11th connecting unit; the first end of the 14th link (25-3) is connected to the 8th connecting unit, and the second end of the 14th link (25-3) is connected to the 12th connecting unit.

5. The parallel robot with a locking mode and two rotational and two kinetic motion modes according to claim 4, characterized in that, The 54th rotary joint R54 is also connected to the first end of the sixth support rod (17-1), and the 51st rotary joint R51 is also connected to the base (1); The sixth connecting unit includes a fifty-sixth rotary joint R56, a nineteenth link (19) and a fifty-seventh rotary joint R57 connected in sequence; the fifty-seventh rotary joint R57 is also connected to the first end of the ninth support rod (20-1) and the fifty-sixth rotary joint R56 is also connected to the first end of the eighth support rod (17-3); The seventh connecting unit includes the 59th rotary joint R59, the 21st link (21), the 510th rotary joint R510, the 22nd link (22), and the 511th rotary joint R511 connected in sequence; the 511th rotary joint R511 is also connected to the first end of the 12th support rod (25-1), and the 59th rotary joint R59 is also connected to the first end of the 11th support rod (20-3); The eighth connecting unit includes a fifth 15 rotary joint R515, a 26th link (26), a fifth 20th rotary joint R520, a 27th link (27), and a fifth 19 rotary joint R519 connected in sequence; the fifth 19 rotary joint R519 is also connected to the moving platform (30), and the fifth 15 rotary joint R515 is also connected to the first end of the fourteenth support rod (25-3); The 53rd rotary joint R53 is also connected to the second end of the sixth support rod (17-1), and the 52nd rotary joint R52 is also connected to the base (1); The tenth connecting unit includes a fifty-fifth rotary joint R55, an eighteenth link (18) and a fifty-eighth rotary joint R58 connected in sequence; the fifty-eighth rotary joint R58 is also connected to the second end of the ninth support rod (20-1), and the fifty-fifth rotary joint R55 is also connected to the second end of the eighth support rod (17-3); The eleventh connecting unit includes a fifth-fourth rotary joint R514, a twenty-fourth connecting rod (24), a fifth-threeth rotary joint R513, a twenty-third connecting rod (23), and a fifth-twoth rotary joint R512 connected in sequence; the fifth-twoth rotary joint R512 is also connected to the second end of the twelfth support rod (25-1), and the fifth-fourth rotary joint R514 is also connected to the second end of the eleventh support rod (20-3); The twelfth connecting unit includes the fifth 16th rotary joint R516, the twenty-ninth link (29), the fifth 17th rotary joint R517, the twenty-eighth link (28), and the fifth 18th rotary joint R518 connected in sequence; the fifth 18th rotary joint R518 is also connected to the moving platform (30), and the fifth 16th rotary joint R516 is also connected to the second end of the fourteenth support rod (25-3).

6. The driving method for a parallel robot with a locking mode and two rotational and two translational motion modes according to any one of claims 1-5, characterized in that, Specifically, the following steps are taken: locking the rotary drive motor connected to the 51st rotary joint R51, locking the mobile drive motor connected to the 21st sliding joint, locking the mobile drive motor connected to the 32nd sliding joint P32, locking the mobile drive motor connected to the 42nd sliding joint P42, controlling the auxiliary drive motor connected to the 52nd rotary joint R52, so that the moving platform (30) has a locking mode. Lock the auxiliary drive motor connected to the 52nd rotary joint R52, control the rotary drive motor connected to the 51st rotary joint R51, the 21st sliding joint P21 connected to the sliding drive motor, the 32nd sliding joint P32 connected to the sliding drive motor and the 42nd sliding joint P42 connected to the sliding drive motor, so that the moving platform (30) has a two-rotation two-sliding motion mode.

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