Spatial four-degree-of-freedom parallel stirring robot with complete decoupling characteristic and driving method

Abstract

The invention discloses a spatial four-degree-of-freedom parallel stirring robot with a complete decoupling characteristic. The spatial four-degree-of-freedom parallel stirring robot comprises a movable platform and a base, a first kinematic chain is arranged between the movable platform and the base; a second kinematic chain and a third kinematic chain are arranged between the first kinematic chain and the base; a fourth kinematic chain is arranged between the movable platform and the base and further connected with the first kinematic chain. According to the robot, the complex motion of the tail end stirrer is decomposed through independent control over four rotating motions, and therefore control over the complex motion is simplified. The invention further discloses a driving method of the spatial four-degree-of-freedom parallel stirring robot with the complete decoupling characteristic.

Description

Technical Field

[0001] The present invention belongs to the technical field of robots, and particularly relates to a spatial four-degree-of-freedom parallel stirring robot with completely decoupled characteristics, and also relates to a driving method for a spatial four-degree-of-freedom parallel stirring robot with completely decoupled characteristics. Background Art

[0002] During material stirring, complex spatial rotation and position movement are required. Currently, existing stirring robots generally have definite position movement or attitude rotation. Among them, some robots have a motion mode with position movement accompanied by rotation. Currently, series robots with such a motion mode have small stiffness, relatively large cumulative errors, and relatively small dynamic performance. If parallel stirring robots are used, although their stiffness, dynamic performance, error accuracy, etc. have all been improved, the control methods for such parallel stirring robots are relatively complex, which to a certain extent limits the application of such parallel stirring robots. Summary of the Invention

[0003] The first object of the present invention is to provide a spatial four-degree-of-freedom parallel stirring robot with completely decoupled characteristics. By independently controlling four rotational motions, the complex motion of the end stirrer is decomposed, thus simplifying the control of complex motions.

[0004] The second object of the present invention is to provide a driving method for a spatial four-degree-of-freedom parallel stirring robot with completely decoupled characteristics.

[0005] The first technical solution adopted by the present invention is that a spatial four-degree-of-freedom parallel stirring robot with completely decoupled characteristics includes a moving platform and a base; a first motion chain is arranged between the moving platform and the base; a second motion chain and a third motion chain are arranged between the first motion chain and the base; a fourth motion chain is arranged between the moving platform and the base, and the fourth motion chain is also connected to the first motion chain.

[0006] The present invention is further characterized in that: The first motion chain includes an eleventh rotating pair R11, a first connecting rod, a twelfth rotating pair R12, a second connecting rod assembly, a thirteenth rotating pair R13, a third connecting rod assembly, and a fourteenth rotating pair R14 connected in sequence; the fourteenth rotating pair R14 is also connected to the moving platform, and the eleventh rotating pair R11 is also connected to the base; The second connecting rod assembly includes a first branch rod and a second branch rod connected to each other. The first end of the first branch rod is connected to the fourth motion chain, and the second end of the first branch rod is connected to the third motion chain; the second motion chain is also connected to the rod body of the first branch rod; The first end of the second branch rod is connected to the rod body of the first branch rod, and the second end of the second branch rod is connected to the thirteenth rotating pair R13; The third link assembly includes a third rod and a fourth L-shaped rod that are connected to each other; the first end of the third rod is connected to the thirteenth revolute pair R13, and the second end of the third rod is connected to the fourth kinematic chain; the third kinematic chain is also connected to the rod body of the third rod; The first end of the fourth L-shaped rod is connected to the rod body of the third rod; the second end of the fourth L-shaped rod is connected to the fourteenth revolute pair R14.

[0007] The second kinematic chain includes a twenty-first prismatic pair P21, a fourth link, a twenty-second revolute pair R22, a fifth link, a twenty-third prismatic pair P23, a sixth link, a twenty-fourth prismatic pair P24, a seventh link, and a twenty-fifth helical pair H25 that are connected in sequence; the twenty-fifth helical pair H25 is also connected to the rod body of the first rod, and the twenty-first prismatic pair P21 is also connected to the base.

[0008] The third kinematic chain includes a thirty-first prismatic pair P31, an eighth link, a thirty-second revolute pair R32, a ninth link, a thirty-third prismatic pair P33, a tenth link, a thirty-fourth prismatic pair P34, an eleventh link, a thirty-fifth revolute pair R35, a twelfth link, a thirty-seventh prismatic pair P37, a thirteenth link, and a thirty-eighth helical pair H38 that are connected in sequence; the thirty-eighth helical pair H38 is also connected to the rod body of the third rod, and the thirty-first prismatic pair P31 is also connected to the base; Both the tenth link and the twelfth link are zigzag links with a single inflection point; a thirty-sixth prismatic pair P36 is provided on the rod body of the twelfth link, and the thirty-sixth prismatic pair P36 is also connected to the second end of the first rod.

[0009] The fourth kinematic chain includes a forty-first prismatic pair P41, a fourteenth link, a forty-second revolute pair R42, a fifteenth link, a forty-third prismatic pair P43, a sixteenth link, a forty-fourth prismatic pair P44, a seventeenth link, a forty-fifth revolute pair R45, an eighteenth link assembly, a forty-seventh prismatic pair P47, a nineteenth link, a forty-eighth prismatic pair P48, a twentieth link, a forty-ninth revolute pair R49, a twenty-first link assembly, a four-hundred-and-eleventh prismatic pair P411, a twenty-second link, a four-hundred-and-twelfth prismatic pair P412, a twenty-third link, and a four-hundred-and-thirteenth helical pair H413 that are connected in sequence; the four-hundred-and-thirteenth helical pair H413 is also connected to the moving platform, and the forty-first prismatic pair P41 is also connected to the base; The sixteenth link, the seventeenth link, and the nineteenth link are all zigzag links with a single inflection point; The eighteenth linkage assembly includes a fifth rod and a sixth rod that are connected to each other; the first end of the fifth rod is connected to the forty-fifth revolute pair R45, the second end of the fifth rod is connected to the forty-sixth prismatic pair P46, and the forty-sixth prismatic pair P46 is connected to the first end of the first rod; the first end of the sixth rod is connected to the rod body of the fifth rod, and the second end of the sixth rod is connected to the forty-seventh prismatic pair P47; The twenty-first linkage assembly includes a seventh rod and an eighth rod that are connected to each other; the first end of the seventh rod is connected to the forty-ninth revolute pair R49, the second end of the seventh rod is connected to the four-hundredth and tenth prismatic pair P410, and the four-hundredth and tenth prismatic pair P410 is also connected to the second end of the third rod; The first end of the eighth rod is connected to the rod body of the seventh rod, and the second end of the eighth rod is connected to the four-hundredth and eleventh prismatic pair P411.

[0010] The eleventh revolute pair R11 is connected to a driving motor.

[0011] The twenty-first prismatic pair P21 is connected to a driving motor.

[0012] The thirty-first prismatic pair P31 is connected to a driving motor.

[0013] The forty-first prismatic pair P41 is connected to a driving motor.

[0014] The second technical solution adopted by the present invention is a driving method for a spatial four-degree-of-freedom parallel stirring robot with complete decoupling characteristics, specifically: controlling the motor connected to the eleventh revolute pair R11 to rotate the moving platform around the axis of the eleventh revolute pair R11; controlling the motor connected to the twenty-first prismatic pair P21 to rotate the moving platform around the axis of the twelfth revolute pair R12; controlling the motor connected to the thirty-first prismatic pair P31 to rotate the moving platform around the axis of the thirteenth revolute pair R13; controlling the motor connected to the forty-first prismatic pair P41 to rotate the moving platform around the axis of the fourteenth revolute pair R14.

[0015] The beneficial effects of the present invention are: (1) The spatial four-degree-of-freedom parallel stirring robot of the present invention with complete decoupling characteristics has a four-degree-of-freedom motion mode at the end stirrer where the four degrees of freedom are non-intersecting and non-parallel in space. The end stirrer has a motion characteristic of high coupling of position and attitude. During the material stirring operation, it has a better stirring effect. Moreover, when the end stirrer stirs the material, it has higher stiffness, smaller error, and better dynamic performance compared to a serial robot with such motion characteristics.

[0016] (2)The spatial four-degree-of-freedom parallel stirring robot of the present invention has a completely decoupled characteristic. The movements of the four rotating joints of the parallel stirring robot are all controlled by a single drive. Through the independent control of the four rotational movements, the decomposition of the complex movement of the end stirrer is realized, thereby simplifying the control method of the complex movement. Moreover, all the drives are arranged on the base, and high-power motors can be arranged without reducing the dynamic performance of the overall robot, thereby effectively improving the ability of the end stirrer to handle large-load materials. At the same time, the mass of the moving parts of the parallel mixer is also reduced, thereby reducing the energy consumption of the equipment during operation. Since the rotational movements of the four rotating axes are all controlled by one drive, the parallel stirring robot has the advantage of a simple control algorithm, which is convenient for efficient stirring after detecting the position of uneven materials.

[0017] (3)The spatial four-degree-of-freedom parallel stirring robot of the present invention has a completely decoupled characteristic. It is a robot with four non-intersecting rotating axes and the axis directions are all general directions in space. The three-dimensional movement of the connected end stirrer is accompanied by three-dimensional rotation, with a complex movement of high coupling between rotation and movement, and it has good application value in material stirring. Moreover, the rotational movements of its four rotating axes are respectively controlled by independent drives, which can realize the decomposition of complex movements and independent control, and solve the problem of the complex control method of the end effector in the high-load complex movement mode. Description of the Drawings

[0018] Figure 1 It is a schematic structural diagram of the spatial four-degree-of-freedom parallel stirring robot of the present invention with a completely decoupled characteristic.

[0019] 1. First connecting rod, 2. Second connecting rod assembly, 3. Third connecting rod assembly, 4. Fourth connecting rod, 5. Fifth connecting rod, 6. Sixth connecting rod, 7. Seventh connecting rod, 8. Eighth connecting rod, 9. Ninth connecting rod, 10. Tenth connecting rod, 11. Eleventh connecting rod, 12. Twelfth connecting rod, 13. Thirteenth connecting rod, 14. Fourteenth connecting rod, 15. Fifteenth connecting rod, 16. Sixteenth connecting rod, 17. Seventeenth connecting rod, 18. Eighteenth connecting rod assembly, 19. Nineteenth connecting rod, 20. Twentieth connecting rod, 21. Twenty-first connecting rod assembly, 22. Twenty-second connecting rod, 23. Twenty-third connecting rod, 24. Moving platform, 25. Base.

[0020] 2-1. First strut, 2-2. Second strut; 3-1. Third strut, 3-2. Fourth L-shaped strut; 18-1. Fifth strut, 18-2. Sixth strut; 21-1. Seventh strut, 21-2. Eighth strut. Detailed Embodiments

[0021] The present invention will be described in detail below in conjunction with the accompanying drawings and specific embodiments.

[0022] The present invention provides a spatial four-degree-of-freedom parallel stirring robot with completely decoupled characteristics, including a moving platform 24 and a base 25; a first motion chain is arranged between the moving platform 24 and the base 25; a second motion chain and a third motion chain are arranged between the first motion chain and the base 25; a fourth motion chain is arranged between the moving platform 24 and the base 25, and the fourth motion chain is also connected to the first motion chain.

[0023] The first motion chain includes an eleventh rotating pair R11, a first connecting rod 1, a twelfth rotating pair R12, a second connecting rod assembly 2, a thirteenth rotating pair R13, a third connecting rod assembly 3, and a fourteenth rotating pair R14 connected in sequence; the fourteenth rotating pair R14 is also connected to the moving platform 24, and the eleventh rotating pair R11 is also connected to the base 25; The second connecting rod assembly 2 includes a first branch rod 2-1 and a second branch rod 2-2 connected to each other. The first end of the first branch rod 2-1 is connected to the fourth motion chain, and the second end of the first branch rod 2-1 is connected to the third motion chain; the second motion chain is also connected to the rod body of the first branch rod 2-1; The first end of the second branch rod 2-2 is connected to the rod body of the first branch rod 2-1, and the second end of the second branch rod 2-2 is connected to the thirteenth rotating pair R13; The third connecting rod assembly 3 includes a third branch rod 3-1 and a fourth L-shaped branch rod 3-2 connected to each other; the first end of the third branch rod 3-1 is connected to the thirteenth rotating pair R13, and the second end of the third branch rod 3-1 is connected to the fourth motion chain; the third motion chain is also connected to the rod body of the third branch rod 3-1; The first end of the fourth L-shaped branch rod 3-2 is connected to the rod body of the third branch rod 3-1; the second end of the fourth L-shaped branch rod 3-2 is connected to the fourteenth rotating pair R14.

[0024] The second motion chain includes a twenty-first sliding pair P21, a fourth connecting rod 4, a twenty-second rotating pair R22, a fifth connecting rod 5, a twenty-third sliding pair P23, a sixth connecting rod 6, a twenty-fourth sliding pair P24, a seventh connecting rod 7, and a twenty-fifth screw pair H25 connected in sequence; the twenty-fifth screw pair H25 is also connected to the rod body of the first branch rod 2-1, and the twenty-first sliding pair P21 is also connected to the base 25.

[0025] The third kinematic chain includes a thirty-first prismatic pair P31, an eighth link 8, a thirty-second revolute pair R32, a ninth link 9, a thirty-third prismatic pair P33, a tenth link 10, a thirty-fourth prismatic pair P34, an eleventh link 11, a thirty-fifth revolute pair R35, a twelfth link 12, a thirty-seventh prismatic pair P37, a thirteenth link 13 and a thirty-eighth screw pair H38, which are connected in sequence; the thirty-eighth screw pair H38 is also connected to the rod body of the third strut 3-1, and the thirty-first prismatic pair P31 is also connected to the base 25; Both the tenth link 10 and the twelfth link 12 are zigzag links with a single inflection point; a thirty-sixth prismatic pair P36 is provided on the rod body of the twelfth link 12, and the thirty-sixth prismatic pair P36 is also connected to the second end of the first strut 2-1.

[0026] The fourth kinematic chain includes a forty-first prismatic pair P41, a fourteenth link 14, a forty-second revolute pair R42, a fifteenth link 15, a forty-third prismatic pair P43, a sixteenth link 16, a forty-fourth prismatic pair P44, a seventeenth link 17, a forty-fifth revolute pair R45, an eighteenth link assembly 18, a forty-seventh prismatic pair P47, a nineteenth link 19, a forty-eighth prismatic pair P48, a twentieth link 20, a forty-ninth revolute pair R49, a twenty-first link assembly 21, a four-hundred-and-eleventh prismatic pair P411, a twenty-second link 22, a four-hundred-and-twelfth prismatic pair P412, a twenty-third link 23 and a four-hundred-and-thirteenth screw pair H413; the four-hundred-and-thirteenth screw pair H413 is also connected to the moving platform 24, and the forty-first prismatic pair P41 is also connected to the base 25; Both the sixteenth link 16, the seventeenth link 17 and the nineteenth link 19 are zigzag links with a single inflection point; The eighteenth link assembly 18 includes a fifth strut 18-1 and a sixth strut 18-2 which are connected to each other; the first end of the fifth strut 18-1 is connected to the forty-fifth revolute pair R45, the second end of the fifth strut 18-1 is connected with a forty-sixth prismatic pair P46, and the forty-sixth prismatic pair P46 is connected to the first end of the first strut 2-1; the first end of the sixth strut 18-2 is connected to the rod body of the fifth strut 18-1, and the second end of the sixth strut 18-2 is connected to the forty-seventh prismatic pair P47; The twenty-first link assembly 21 includes a seventh strut 21-1 and an eighth strut 21-2 which are connected to each other; the first end of the seventh strut 21-1 is connected to the forty-ninth revolute pair R49, the second end of the seventh strut 21-1 is connected with a four-hundred-and-tenth prismatic pair P410, and the four-hundred-and-tenth prismatic pair P410 is also connected to the second end of the third strut 3-1; The first end of the eighth strut 21-2 is connected to the rod body of the seventh strut 21-1, and the second end of the eighth strut 21-2 is connected to the four-hundred-and-eleventh prismatic pair P411.

[0027] The eleventh revolute pair R11 is connected with a driving motor.

[0028] The twenty - first prismatic pair P21 is connected with a driving motor.

[0029] The thirty - first prismatic pair P31 is connected with a driving motor.

[0030] The forty - first prismatic pair P41 is connected with a driving motor.

[0031] The present invention also provides a driving method for a spatial four - degree - of - freedom parallel stirring robot with complete decoupling characteristics, specifically: controlling the motor connected to the eleventh revolute pair R11 to make the moving platform 24 rotate around the axis of the eleventh revolute pair R11; controlling the motor connected to the twenty - first prismatic pair P21 to make the moving platform 24 rotate around the axis of the twelfth revolute pair R12; controlling the motor connected to the thirty - first prismatic pair P31 to make the moving platform 24 rotate around the axis of the thirteenth revolute pair R13; controlling the motor connected to the forty - first prismatic pair P41 to make the moving platform 24 rotate around the axis of the fourteenth revolute pair R14.

[0032] As Figure 1 shown, the first link 1 is rotationally connected to the base 25 through the eleventh revolute pair R11, the first link 1 is rotationally connected to the first support rod 2 - 1 through the twelfth revolute pair R12, the second support rod 2 - 2 is rotationally connected to the third support rod 3 - 1 through the thirteenth revolute pair R13, and the fourth support rod 3 - 2 is rotationally connected to the moving platform 24 through the fourteenth revolute pair R14.

[0033] The fourth link 4 is rotationally connected to the base 25 through the twenty - first prismatic pair P21, the fourth link 4 is rotationally connected to the fifth link 5 through the twenty - second revolute pair R22, the fifth link 5 is movably connected to the sixth link 6 through the twenty - third prismatic pair P23, the sixth link 6 is movably connected to the seventh link 7 through the twenty - fourth prismatic pair P24, and the seventh link 7 is helically connected to the first support rod 2 - 1 through the twenty - fifth helical pair H25.

[0034] The eighth link 8 is movably connected to the base 25 through the thirty - first prismatic pair P31, the eighth link 8 is rotationally connected to the ninth link 9 through the thirty - second revolute pair R32, the ninth link 9 is movably connected to the tenth link 10 through the thirty - third prismatic pair P33, the tenth link 10 is movably connected to the eleventh link 11 through the thirty - fourth prismatic pair P34, the eleventh link 11 is rotationally connected to the twelfth link 12 through the thirty - fifth revolute pair R35, the twelfth link 12 is movably connected to the first support rod 2 - 1 through the thirty - sixth prismatic pair P36. The twelfth link 12 is movably connected to the thirteenth link 13 through the thirty - seventh prismatic pair P37, and the thirteenth link 13 is helically connected to the third support rod 3 - 1 through the thirty - eighth helical pair H38.

[0035] The fourteenth link 14 is movably connected to the base 25 through the forty-first moving pair P41. The fourteenth link 14 is rotatably connected to the fifteenth link 15 through the forty-second rotating pair R42. The fifteenth link 15 is movably connected to the sixteenth link 16 through the forty-third moving pair P43. The sixteenth link 16 is movably connected to the seventeenth link 17 through the forty-fourth moving pair P44. The seventeenth link 17 is rotatably connected to the fifth support rod 18-1 through the forty-fifth rotating pair R45. The fifth support rod 18-1 is movably connected to the first support rod 2-1 through the forty-sixth moving pair P46. The sixth support rod 18-2 is movably connected to the nineteenth link 19 through the forty-seventh moving pair P47. The nineteenth link 19 is movably connected to the twentieth link 20 through the forty-eighth moving pair P48. The twentieth link 20 is rotatably connected to the seventh support rod 21-1 through the forty-ninth rotating pair R49. The seventh support rod 21-1 is movably connected to the third support rod 3-1 through the four-hundredth moving pair P410. The eighth support rod 21-2 is movably connected to the twenty-second link 22 through the four-hundredth and eleventh moving pair P411. The twenty-second link 22 is movably connected to the twenty-third link 23 through the four-hundredth and twelfth moving pair P412. The twenty-third link 23 is helically connected to the moving platform 24 through the four-hundredth and thirteenth helical pair H413.

[0036] Figure 1 In the configuration of the mechanism shown, the axes of the eleventh rotating pair R11, the twenty-second rotating pair R22, and the thirty-second rotating pair R32 coincide with the X-axis. The moving directions of the fourteenth moving pair P14 and the thirty-first moving pair P31 are parallel to the X-axis.

[0037] Figure 1 In the configuration of the mechanism shown, the axes of the twelfth rotating pair R12, the thirty-fifth rotating pair R35, and the twenty-fifth helical pair H25 are parallel to the Y-axis. The thirty-sixth moving pair P36 is parallel to the Y-axis.

[0038] Figure 1 In the configuration of the mechanism shown, the axes of the thirteenth rotating pair R13 and the thirty-eighth helical pair H38 are parallel to the Z-axis.

[0039] Figure 1 In the configuration of the mechanism shown, the moving directions of the twenty-first moving pair P21, the twenty-third moving pair P23, the twenty-fourth moving pair P24, and the axis direction of the twenty-fifth helical pair H25, any three of them are not coplanar.

[0040] Figure 1 In the configuration of the mechanism shown, the moving directions of the thirty-first moving pair P31, the thirty-third moving pair P33, the thirty-fourth moving pair P34, and the thirty-sixth moving pair P36, any three of them are not coplanar.

[0041] Figure 1In the configuration of the shown mechanism, the moving direction of the thirty-sixth prismatic pair P36, the moving direction of the thirty-seventh prismatic pair P37, and the axis of the thirty-eighth helical pair H38 are coplanar.

[0042] Figure 1 In the configuration of the shown mechanism, the axis direction of the forty-second revolute pair R42 coincides with the X-axis, and the moving direction of the forty-first prismatic pair P41 is parallel to the X-axis.

[0043] Figure 1 In the configuration of the shown mechanism, the axis direction of the forty-fifth revolute pair R45 is parallel to the Y-axis.

[0044] Figure 1 In the configuration of the shown mechanism, among the moving directions of the forty-sixth prismatic pair P46, the forty-seventh prismatic pair P47, the forty-eighth prismatic pair P48, and the four-hundred-and-tenth prismatic pair P410, the moving directions of any three prismatic pairs are not coplanar.

[0045] Figure 1 In the configuration of the shown mechanism, the axis of the forty-ninth revolute pair R49, the moving direction of the four-hundred-and-tenth prismatic pair P410 are parallel to the Z-axis. The axis of the four-hundred-and-thirteenth helical pair H413 coincides with the axis of the fourteenth revolute pair R14. The axis of the fourteenth revolute pair R14 is parallel to the X-axis.

[0046] Figure 1 In the configuration of the shown mechanism, among the moving direction of the four-hundred-and-tenth prismatic pair P410, the moving direction of the four-hundred-and-eleventh prismatic pair P411, the moving direction of the four-hundred-and-twelfth prismatic pair P412, and the helical motion axis direction of the four-hundred-and-thirteenth helical pair H413, any three are not coplanar.

[0047] Figure 1 In the configuration of the shown mechanism, among the moving directions of the forty-first prismatic pair P41, the forty-third prismatic pair P43, the forty-fourth prismatic pair P44, and the forty-sixth prismatic pair P46, the moving directions of any three prismatic pairs are not coplanar.

[0048] Figure 1 In the configuration of the shown mechanism, the eleventh revolute pair R11, the twenty-first prismatic pair P21, and the thirty-first prismatic pair P31 are connected with drive motors, and the forty-first prismatic pair P41 is connected with a drive motor.

[0049] Figure 1 In the configuration of the shown mechanism, the eleventh revolute pair R11 is connected with a motor. By controlling the movement of this motor, the movement of the moving platform 24 around the axis of the eleventh revolute pair R11 can be controlled.

[0050] Figure 1In the shown configuration of the mechanism, the twenty-first moving pair P21 is connected to a motor to control the movement of the motor, and to control the moving platform 24 to rotate about the axis of the twelfth revolute pair R12.

[0051] Figure 1 In the shown configuration of the mechanism, the thirty-first moving pair P31 is connected to a motor to control the movement of the motor, and to control the moving platform 24 to rotate about the axis of the thirteenth revolute pair R13.

[0052] Figure 1 In the shown configuration of the mechanism, the forty-first moving pair P41 is connected to a motor to control the movement of the motor, and to control the moving platform 24 to rotate about the axis of the fourteenth revolute pair R14.

[0053] An end mixer can be installed on the moving platform 24 to perform mixing operations on different materials.

[0054] Embodiment 1 A spatial four-degree-of-freedom parallel mixing robot with complete decoupling characteristics includes a moving platform 24 and a base 25; a first kinematic chain is provided between the moving platform 24 and the base 25; a second kinematic chain and a third kinematic chain are provided between the first kinematic chain and the base 25; a fourth kinematic chain is provided between the moving platform 24 and the base 25, and the fourth kinematic chain is also connected to the first kinematic chain.

[0055] Embodiment 2 A spatial four-degree-of-freedom parallel mixing robot with complete decoupling characteristics includes a moving platform 24 and a base 25; a first kinematic chain is provided between the moving platform 24 and the base 25; a second kinematic chain and a third kinematic chain are provided between the first kinematic chain and the base 25; a fourth kinematic chain is provided between the moving platform 24 and the base 25, and the fourth kinematic chain is also connected to the first kinematic chain.

[0056] The first kinematic chain includes an eleventh revolute pair R11, a first link 1, a twelfth revolute pair R12, a second link assembly 2, a thirteenth revolute pair R13, a third link assembly 3, and a fourteenth revolute pair R14 connected in sequence; the fourteenth revolute pair R14 is also connected to the moving platform 24, and the eleventh revolute pair R11 is also connected to the base 25; The second link assembly 2 includes a first strut 2-1 and a second strut 2-2 connected to each other. The first end of the first strut 2-1 is connected to the fourth kinematic chain, and the second end of the first strut 2-1 is connected to the third kinematic chain; the second kinematic chain is also connected to the rod body of the first strut 2-1; The first end of the second strut 2-2 is connected to the rod body of the first strut 2-1, and the second end of the second strut 2-2 is connected to the thirteenth revolute pair R13; The third link assembly 3 includes a third rod 3-1 and a fourth L-shaped rod 3-2 which are connected to each other; the first end of the third rod 3-1 is connected to the thirteenth revolute pair R13, and the second end of the third rod 3-1 is connected to the fourth kinematic chain; the third kinematic chain is also connected to the rod body of the third rod 3-1; The first end of the fourth L-shaped rod 3-2 is connected to the rod body of the third rod 3-1; the second end of the fourth L-shaped rod 3-2 is connected to the fourteenth revolute pair R14.

[0057] Embodiment 3 A spatial four-degree-of-freedom parallel stirring robot with complete decoupling characteristics includes a moving platform 24 and a base 25; a first kinematic chain is arranged between the moving platform 24 and the base 25; a second kinematic chain and a third kinematic chain are arranged between the first kinematic chain and the base 25; a fourth kinematic chain is arranged between the moving platform 24 and the base 25, and the fourth kinematic chain is also connected to the first kinematic chain.

[0058] The first kinematic chain includes an eleventh revolute pair R11, a first link 1, a twelfth revolute pair R12, a second link assembly 2, a thirteenth revolute pair R13, a third link assembly 3, and a fourteenth revolute pair R14 which are connected in sequence; the fourteenth revolute pair R14 is also connected to the moving platform 24, and the eleventh revolute pair R11 is also connected to the base 25; The second link assembly 2 includes a first rod 2-1 and a second rod 2-2 which are connected to each other. The first end of the first rod 2-1 is connected to the fourth kinematic chain, and the second end of the first rod 2-1 is connected to the third kinematic chain; the second kinematic chain is also connected to the rod body of the first rod 2-1; The first end of the second rod 2-2 is connected to the rod body of the first rod 2-1, and the second end of the second rod 2-2 is connected to the thirteenth revolute pair R13; The third link assembly 3 includes a third rod 3-1 and a fourth L-shaped rod 3-2 which are connected to each other; the first end of the third rod 3-1 is connected to the thirteenth revolute pair R13, and the second end of the third rod 3-1 is connected to the fourth kinematic chain; the third kinematic chain is also connected to the rod body of the third rod 3-1; The first end of the fourth L-shaped rod 3-2 is connected to the rod body of the third rod 3-1; the second end of the fourth L-shaped rod 3-2 is connected to the fourteenth revolute pair R14.

[0059] The second kinematic chain includes a twenty-first prismatic pair P21, a fourth link 4, a twenty-second revolute pair R22, a fifth link 5, a twenty-third prismatic pair P23, a sixth link 6, a twenty-fourth prismatic pair P24, a seventh link 7, and a twenty-fifth helical pair H25 which are connected in sequence; the twenty-fifth helical pair H25 is also connected to the rod body of the first rod 2-1, and the twenty-first prismatic pair P21 is also connected to the base 25.

[0060] Embodiment 4 A spatial four-degree-of-freedom parallel stirring robot with complete decoupling characteristics, including a moving platform 24 and a base 25; a first motion chain is arranged between the moving platform 24 and the base 25; a second motion chain and a third motion chain are arranged between the first motion chain and the base 25; a fourth motion chain is arranged between the moving platform 24 and the base 25, and the fourth motion chain is also connected to the first motion chain.

[0061] The first motion chain includes an eleventh revolute pair R11, a first link 1, a twelfth revolute pair R12, a second link assembly 2, a thirteenth revolute pair R13, a third link assembly 3, and a fourteenth revolute pair R14 that are connected in sequence; the fourteenth revolute pair R14 is also connected to the moving platform 24, and the eleventh revolute pair R11 is also connected to the base 25; The second link assembly 2 includes a first strut 2-1 and a second strut 2-2 that are connected to each other. The first end of the first strut 2-1 is connected to the fourth motion chain, and the second end of the first strut 2-1 is connected to the third motion chain; the second motion chain is also connected to the rod body of the first strut 2-1; The first end of the second strut 2-2 is connected to the rod body of the first strut 2-1, and the second end of the second strut 2-2 is connected to the thirteenth revolute pair R13; The third link assembly 3 includes a third strut 3-1 and a fourth L-shaped strut 3-2 that are connected to each other; the first end of the third strut 3-1 is connected to the thirteenth revolute pair R13, and the second end of the third strut 3-1 is connected to the fourth motion chain; the third motion chain is also connected to the rod body of the third strut 3-1; The first end of the fourth L-shaped strut 3-2 is connected to the rod body of the third strut 3-1; the second end of the fourth L-shaped strut 3-2 is connected to the fourteenth revolute pair R14.

[0062] The second motion chain includes a twenty-first prismatic pair P21, a fourth link 4, a twenty-second revolute pair R22, a fifth link 5, a twenty-third prismatic pair P23, a sixth link 6, a twenty-fourth prismatic pair P24, a seventh link 7, and a twenty-fifth helical pair H25 that are connected in sequence; the twenty-fifth helical pair H25 is also connected to the rod body of the first strut 2-1, and the twenty-first prismatic pair P21 is also connected to the base 25.

[0063] The third motion chain includes a thirty-first prismatic pair P31, an eighth link 8, a thirty-second revolute pair R32, a ninth link 9, a thirty-third prismatic pair P33, a tenth link 10, a thirty-fourth prismatic pair P34, an eleventh link 11, a thirty-fifth revolute pair R35, a twelfth link 12, a thirty-seventh prismatic pair P37, a thirteenth link 13, and a thirty-eighth helical pair H38 that are connected in sequence; the thirty-eighth helical pair H38 is also connected to the rod body of the third strut 3-1, and the thirty-first prismatic pair P31 is also connected to the base 25; The tenth link 10 and the twelfth link 12 are both zigzag links each containing a folding point; a thirty-sixth moving pair P36 is provided on the rod body of the twelfth link 12, and the thirty-sixth moving pair P36 is also connected to the second end of the first support rod 2-1.

[0064] Embodiment 5 A spatial four-degree-of-freedom parallel stirring robot with complete decoupling characteristics includes a moving platform 24 and a base 25; a first motion chain is provided between the moving platform 24 and the base 25; a second motion chain and a third motion chain are provided between the first motion chain and the base 25; a fourth motion chain is provided between the moving platform 24 and the base 25, and the fourth motion chain is also connected to the first motion chain.

[0065] The first motion chain includes an eleventh rotating pair R11, a first link 1, a twelfth rotating pair R12, a second link assembly 2, a thirteenth rotating pair R13, a third link assembly 3, and a fourteenth rotating pair R14 connected in sequence; the fourteenth rotating pair R14 is also connected to the moving platform 24, and the eleventh rotating pair R11 is also connected to the base 25; The second link assembly 2 includes a first support rod 2-1 and a second support rod 2-2 connected to each other. The first end of the first support rod 2-1 is connected to the fourth motion chain, and the second end of the first support rod 2-1 is connected to the third motion chain; the second motion chain is also connected to the rod body of the first support rod 2-1; The first end of the second support rod 2-2 is connected to the rod body of the first support rod 2-1, and the second end of the second support rod 2-2 is connected to the thirteenth rotating pair R13; The third link assembly 3 includes a third support rod 3-1 and a fourth L-shaped support rod 3-2 connected to each other; the first end of the third support rod 3-1 is connected to the thirteenth rotating pair R13, and the second end of the third support rod 3-1 is connected to the fourth motion chain; the third motion chain is also connected to the rod body of the third support rod 3-1; The first end of the fourth L-shaped support rod 3-2 is connected to the rod body of the third support rod 3-1; the second end of the fourth L-shaped support rod 3-2 is connected to the fourteenth rotating pair R14.

[0066] The second motion chain includes a twenty-first moving pair P21, a fourth link 4, a twenty-second rotating pair R22, a fifth link 5, a twenty-third moving pair P23, a sixth link 6, a twenty-fourth moving pair P24, a seventh link 7, and a twenty-fifth screw pair H25 connected in sequence; the twenty-fifth screw pair H25 is also connected to the rod body of the first support rod 2-1, and the twenty-first moving pair P21 is also connected to the base 25.

[0067] The third kinematic chain includes a thirty-first prismatic pair P31, an eighth link 8, a thirty-second revolute pair R32, a ninth link 9, a thirty-third prismatic pair P33, a tenth link 10, a thirty-fourth prismatic pair P34, an eleventh link 11, a thirty-fifth revolute pair R35, a twelfth link 12, a thirty-seventh prismatic pair P37, a thirteenth link 13, and a thirty-eighth screw pair H38, which are connected in sequence; the thirty-eighth screw pair H38 is also connected to the rod body of the third strut 3-1, and the thirty-first prismatic pair P31 is also connected to the base 25; Both the tenth link 10 and the twelfth link 12 are zigzag links with one inflection point; a thirty-sixth prismatic pair P36 is provided on the rod body of the twelfth link 12, and the thirty-sixth prismatic pair P36 is also connected to the second end of the first strut 2-1.

[0068] The fourth kinematic chain includes a forty-first prismatic pair P41, a fourteenth link 14, a forty-second revolute pair R42, a fifteenth link 15, a forty-third prismatic pair P43, a sixteenth link 16, a forty-fourth prismatic pair P44, a seventeenth link 17, a forty-fifth revolute pair R45, an eighteenth link assembly 18, a forty-seventh prismatic pair P47, a nineteenth link 19, a forty-eighth prismatic pair P48, a twentieth link 20, a forty-ninth revolute pair R49, a twenty-first link assembly 21, a four-hundred-and-eleventh prismatic pair P411, a twenty-second link 22, a four-hundred-and-twelfth prismatic pair P412, a twenty-third link 23, and a four-hundred-and-thirteenth screw pair H413; the four-hundred-and-thirteenth screw pair H413 is also connected to the moving platform 24, and the forty-first prismatic pair P41 is also connected to the base 25; Both the sixteenth link 16, the seventeenth link 17, and the nineteenth link 19 are zigzag links with one inflection point; The eighteenth link assembly 18 includes a fifth strut 18-1 and a sixth strut 18-2 that are connected to each other; the first end of the fifth strut 18-1 is connected to the forty-fifth revolute pair R45, the second end of the fifth strut 18-1 is connected to a forty-sixth prismatic pair P46, and the forty-sixth prismatic pair P46 is connected to the first end of the first strut 2-1; the first end of the sixth strut 18-2 is connected to the rod body of the fifth strut 18-1, and the second end of the sixth strut 18-2 is connected to the forty-seventh prismatic pair P47; The twenty-first link assembly 21 includes a seventh strut 21-1 and an eighth strut 21-2 that are connected to each other; the first end of the seventh strut 21-1 is connected to the forty-ninth revolute pair R49, the second end of the seventh strut 21-1 is connected to a four-hundred-and-tenth prismatic pair P410, and the four-hundred-and-tenth prismatic pair P410 is also connected to the second end of the third strut 3-1; The first end of the eighth strut 21-2 is connected to the rod body of the seventh strut 21-1, and the second end of the eighth strut 21-2 is connected to the four-hundred-and-eleventh prismatic pair P411.

[0069] Example 6 A spatial four-degree-of-freedom parallel stirring robot with completely decoupled characteristics includes a moving platform 24 and a base 25; a first motion chain is arranged between the moving platform 24 and the base 25; a second motion chain and a third motion chain are arranged between the first motion chain and the base 25; a fourth motion chain is arranged between the moving platform 24 and the base 25, and the fourth motion chain is also connected to the first motion chain.

[0070] The first motion chain includes an eleventh revolute pair R11, a first connecting rod 1, a twelfth revolute pair R12, a second connecting rod assembly 2, a thirteenth revolute pair R13, a third connecting rod assembly 3, and a fourteenth revolute pair R14 connected in sequence; the fourteenth revolute pair R14 is also connected to the moving platform 24, and the eleventh revolute pair R11 is also connected to the base 25; The second connecting rod assembly 2 includes a first branch rod 2-1 and a second branch rod 2-2 connected to each other. The first end of the first branch rod 2-1 is connected to the fourth motion chain, and the second end of the first branch rod 2-1 is connected to the third motion chain; the second motion chain is also connected to the rod body of the first branch rod 2-1; The first end of the second branch rod 2-2 is connected to the rod body of the first branch rod 2-1, and the second end of the second branch rod 2-2 is connected to the thirteenth revolute pair R13; The third connecting rod assembly 3 includes a third branch rod 3-1 and a fourth L-shaped branch rod 3-2 connected to each other; the first end of the third branch rod 3-1 is connected to the thirteenth revolute pair R13, and the second end of the third branch rod 3-1 is connected to the fourth motion chain; the third motion chain is also connected to the rod body of the third branch rod 3-1; The first end of the fourth L-shaped branch rod 3-2 is connected to the rod body of the third branch rod 3-1; the second end of the fourth L-shaped branch rod 3-2 is connected to the fourteenth revolute pair R14.

[0071] The second motion chain includes a twenty-first prismatic pair P21, a fourth connecting rod 4, a twenty-second revolute pair R22, a fifth connecting rod 5, a twenty-third prismatic pair P23, a sixth connecting rod 6, a twenty-fourth prismatic pair P24, a seventh connecting rod 7, and a twenty-fifth helical pair H25 connected in sequence; the twenty-fifth helical pair H25 is also connected to the rod body of the first branch rod 2-1, and the twenty-first prismatic pair P21 is also connected to the base 25.

[0072] The third motion chain includes a thirty-first prismatic pair P31, an eighth connecting rod 8, a thirty-second revolute pair R32, a ninth connecting rod 9, a thirty-third prismatic pair P33, a tenth connecting rod 10, a thirty-fourth prismatic pair P34, an eleventh connecting rod 11, a thirty-fifth revolute pair R35, a twelfth connecting rod 12, a thirty-seventh prismatic pair P37, a thirteenth connecting rod 13, and a thirty-eighth helical pair H38 connected in sequence; the thirty-eighth helical pair H38 is also connected to the rod body of the third branch rod 3-1, and the thirty-first prismatic pair P31 is also connected to the base 25; The tenth link 10 and the twelfth link 12 are both broken-line links each containing a bending point; a thirty-sixth moving pair P36 is provided on the rod body of the twelfth link 12, and the thirty-sixth moving pair P36 is also connected to the second end of the first support rod 2-1.

[0073] The fourth kinematic chain includes a forty-first moving pair P41, a fourteenth link 14, a forty-second rotating pair R42, a fifteenth link 15, a forty-third moving pair P43, a sixteenth link 16, a forty-fourth moving pair P44, a seventeenth link 17, a forty-fifth rotating pair R45, an eighteenth link assembly 18, a forty-seventh moving pair P47, a nineteenth link 19, a forty-eighth moving pair P48, a twentieth link 20, a forty-ninth rotating pair R49, a twenty-first link assembly 21, a four-hundred-and-eleventh moving pair P411, a twenty-second link 22, a four-hundred-and-twelfth moving pair P412, a twenty-third link 23, and a four-hundred-and-thirteenth screw pair H413, which are connected in sequence; the four-hundred-and-thirteenth screw pair H413 is also connected to the moving platform 24, and the forty-first moving pair P41 is also connected to the base 25; The sixteenth link 16, the seventeenth link 17, and the nineteenth link 19 are all broken-line links each containing a bending point; The eighteenth link assembly 18 includes a fifth support rod 18-1 and a sixth support rod 18-2 that are connected to each other; the first end of the fifth support rod 18-1 is connected to the forty-fifth rotating pair R45, a forty-sixth moving pair P46 is connected to the second end of the fifth support rod 18-1, and the forty-sixth moving pair P46 is connected to the first end of the first support rod 2-1; the first end of the sixth support rod 18-2 is connected to the rod body of the fifth support rod 18-1, and the second end of the sixth support rod 18-2 is connected to the forty-seventh moving pair P47; The twenty-first link assembly 21 includes a seventh support rod 21-1 and an eighth support rod 21-2 that are connected to each other; the first end of the seventh support rod 21-1 is connected to the forty-ninth rotating pair R49, a four-hundred-and-tenth moving pair P410 is connected to the second end of the seventh support rod 21-1, and the four-hundred-and-tenth moving pair P410 is also connected to the second end of the third support rod 3-1; The first end of the eighth support rod 21-2 is connected to the rod body of the seventh support rod 21-1, and the second end of the eighth support rod 21-2 is connected to the four-hundred-and-eleventh moving pair P411.

[0074] The eleventh rotating pair R11 is connected to a driving motor.

Claims

1. A spatial four-degree-of-freedom parallel stirring robot with complete decoupling characteristics, characterized in that: The invention comprises a moving platform (24) and a base (25); a first kinematic chain is arranged between the moving platform (24) and the base (25); a second kinematic chain and a third kinematic chain are arranged between the first kinematic chain and the base (25); a fourth kinematic chain is arranged between the moving platform (24) and the base (25), and the fourth kinematic chain is also connected to the first kinematic chain.

2. The spatial four-degree-of-freedom parallel stirring robot with complete decoupling characteristics according to claim 1, characterized in that: The first kinematic chain comprises an eleventh rotational pair R11, a first connecting rod (1), a twelfth rotational pair R12, a second connecting rod assembly (2), a thirteenth rotational pair R13, a third connecting rod assembly (3) and a fourteenth rotational pair R14 which are connected in sequence; the fourteenth rotational pair R14 is also connected to the moving platform (24), and the eleventh rotational pair R11 is also connected to the base (25); The second connecting rod assembly (2) comprises a first support rod (2-1) and a second support rod (2-2) connected to each other, the first end of the first support rod (2-1) being connected to the fourth kinematic chain, and the second end of the first support rod (2-1) being connected to the third kinematic chain; the second kinematic chain is also connected to the rod body of the first support rod (2-1); The first end of the second support rod (2-2) is connected to the rod body of the first support rod (2-1), and the second end of the second support rod (2-2) is connected to the thirteenth rotation pair R13; The third connecting rod assembly (3) comprises a third support rod (3-1) and a fourth L-shaped support rod (3-2) which are connected to each other; the first end of the third support rod (3-1) is connected to the thirteenth rotation pair R13, and the second end of the third support rod (3-1) is connected to the fourth kinematic chain; the third kinematic chain is also connected to the rod body of the third support rod (3-1); The first end of the fourth L-shaped support rod (3-2) is connected to the rod body of the third support rod (3-1); and the second end of the fourth L-shaped support rod (3-2) is connected to the fourteenth rotation pair R14.

3. The spatial four-degree-of-freedom parallel stirring robot with complete decoupling characteristics according to claim 2, characterized in that: The second kinematic chain comprises a twenty-first movable pair P21, a fourth connecting rod (4), a twenty-second rotational pair R22, a fifth connecting rod (5), a twenty-third movable pair P23, a sixth connecting rod (6), a twenty-fourth movable pair P24, a seventh connecting rod (7) and a twenty-fifth helical pair H25 which are connected in sequence; the twenty-fifth helical pair H25 is also connected to the rod body of the first support rod (2-1), and the twenty-first movable pair P21 is also connected to the base (25).

4. The spatial four-degree-of-freedom parallel stirring robot with complete decoupling characteristics according to claim 2, characterized in that: The third kinematic chain comprises a thirty-first moving pair P31, an eighth connecting rod (8), a thirty-second rotating pair R32, a ninth connecting rod (9), a thirty-third moving pair P33, a tenth connecting rod (10), a thirty-fourth moving pair P34, an eleventh connecting rod (11), a thirty-fifth rotating pair R35, a twelfth connecting rod (12), a thirty-seventh moving pair P37, a thirteenth connecting rod (13) and a thirty-eighth helical pair H38 which are connected in sequence; the thirty-eighth helical pair H38 is also connected to the rod body of the third support rod (3-1), and the thirty-first moving pair P31 is also connected to the base (25); The tenth connecting rod (10) and the twelfth connecting rod (12) are both broken-line connecting rods having a turning point; a thirty-sixth movable pair P36 is arranged on the rod body of the twelfth connecting rod (12), and the thirty-sixth movable pair P36 is also connected to the second end of the first supporting rod (2-1).

5. The spatial four-degree-of-freedom parallel stirring robot with complete decoupling characteristics according to claim 2, characterized in that: The fourth kinematic chain comprises a forty-first moving pair P41, a fourteenth connecting rod (14), a forty-second rotating pair R42, a fifteenth connecting rod (15), a forty-third moving pair P43, a sixteenth connecting rod (16), a forty-fourth moving pair P44, a seventeenth connecting rod (17), a forty-fifth rotating pair R45, an eighteenth connecting rod assembly (18), a forty-seventh moving pair P47, a nineteenth connecting rod (19), a forty-eighth moving pair P48, a twentieth connecting rod (20), a forty-ninth rotating pair R49, a twenty-first connecting rod assembly (21), a forty-first moving pair P411, a twenty-second connecting rod (22), a forty-second moving pair P412, a twenty-third connecting rod (23) and a forty-third helical pair H413 which are connected in sequence; the forty-third helical pair H413 is also connected to the moving platform (24), and the forty-first moving pair P41 is also connected to the base (25); The sixteenth connecting rod (16), the seventeenth connecting rod (17) and the nineteenth connecting rod (19) are all broken line connecting rods having a turning point; The eighteenth connecting rod assembly (18) comprises a fifth supporting rod (18-1) and a sixth supporting rod (18-2) connected to each other; the first end of the fifth supporting rod (18-1) is connected to the forty-fifth rotation pair R45, the second end of the fifth supporting rod (18-1) is connected to the forty-sixth movement pair P46, and the forty-sixth movement pair P46 is connected to the first end of the first supporting rod (2-1); the first end of the sixth supporting rod (18-2) is connected to the rod body of the fifth supporting rod (18-1), and the second end of the sixth supporting rod (18-2) is connected to the forty-seventh movement pair P47; The twenty-first connecting rod assembly (21) comprises a seventh support rod (21-1) and an eighth support rod (21-2) connected to each other; the first end of the seventh support rod (21-1) is connected to a forty-ninth rotation pair R49, the second end of the seventh support rod (21-1) is connected to a forty-first movement pair P410, and the forty-first movement pair P410 is also connected to the second end of the third support rod (3-1); The first end of the eighth support rod (21-2) is connected to the rod body of the seventh support rod (21-1), and the second end of the eighth support rod (21-2) is connected to the fourth one-to-one movable pair P411.

6. The spatial four-degree-of-freedom parallel stirring robot with complete decoupling characteristics according to claim 2, characterized in that: The eleventh rotation pair R11 is connected to a driving motor.

7. The spatial four-degree-of-freedom parallel stirring robot with complete decoupling characteristics according to claim 3, characterized in that: The twenty-first movable pair P21 is connected to a driving motor.

8. The spatial four-degree-of-freedom parallel stirring robot with complete decoupling characteristics according to claim 4, characterized in that: The thirty-first movable pair P31 is connected to a driving motor.

9. The spatial four-degree-of-freedom parallel stirring robot with complete decoupling characteristics according to claim 5, characterized in that: The forty-first movable pair P41 is connected to a driving motor.

10. The driving method of the spatial four-degree-of-freedom parallel stirring robot with complete decoupling characteristics according to any one of claims 9-1, characterized in that: Specifically: The motor connected to the eleventh rotation pair R11 is controlled to rotate the moving platform (24) around the axis of the eleventh rotation pair R11; the motor connected to the twenty-first movement pair P21 is controlled to rotate the moving platform (24) around the axis of the twelfth rotation pair R12; the motor connected to the thirty-first movement pair P31 is controlled to rotate the moving platform (24) around the axis of the thirteenth rotation pair R13; the motor connected to the forty-first movement pair P41 is controlled to rotate the moving platform (24) around the axis of the fourteenth rotation pair R14.

Images