CN104526676A - Wheel type mobile robot palletizer with multiple closed-loop sub chains - Google Patents
Wheel type mobile robot palletizer with multiple closed-loop sub chains Download PDFInfo
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Abstract
一种具有多个闭环子链的轮式移动码垛机器人，包括多个并联机构闭环执行机构子链、一个串联的执行机构主链和一个可移动平台。所述的机构闭环子链可控制主链连杆在四杆机构闭环子链所在平面内运动，多个并联连杆子链、机身和可移动平台的运动可实现动平台的空间运动。本发明通过四个闭环子链和机身的合成运动实现控制，通过多个连杆、机身和可移动平台的连接，实现末端执行器的空间运动，末端执行器运动惯量小，动力学性能好，可靠性高，机构同时具有移动和操作功能，使机器人拥有几乎无限大的工作空间和高度的运动冗余性，能作用于更多的场合。
A wheeled mobile palletizing robot with multiple closed-loop sub-chains comprises multiple closed-loop actuator sub-chains of parallel mechanisms, a main chain of actuators in series and a movable platform. The closed-loop sub-chain of the mechanism can control the movement of the connecting rod of the main chain in the plane where the closed-loop sub-chain of the four-bar mechanism is located, and the movement of multiple parallel link sub-chains, the fuselage and the movable platform can realize the spatial movement of the movable platform. The present invention realizes the control through the synthetic motion of four closed-loop sub-chains and the fuselage, and realizes the spatial movement of the end effector through the connection of multiple connecting rods, the fuselage and the movable platform, and the end effector has small motion inertia and excellent dynamic performance. Good, high reliability, the mechanism has the function of movement and operation at the same time, so that the robot has an almost infinite work space and a high degree of motion redundancy, and can act on more occasions.
Description
技术领域technical field
本发明涉及机器人领域，特别是一种具有多个闭环子链的轮式移动码垛机器人。The invention relates to the field of robots, in particular to a wheeled mobile palletizing robot with multiple closed-loop sub-chains.
背景技术Background technique
移动机器人，是一个集环境感知、动态决策与规划、行为控制与执行等多功能于一体的综合系统。它集中了传感器技术、信息处理、电子工程、计算机工程、自动化控制工程以及人工智能等多学科的研究成果，代表机电一体化的最高成就，是目前科学技术发展最活跃的领域之一。随着机器人性能不断地完善，移动机器人的应用范围大为扩展，不仅在工业、农业、医疗、服务等行业中得到广泛的应用，而且在城市安全、国防和空间探测领域等有害与危险场合得到很好的应用。因此，移动机器人技术已经得到世界各国的普遍关注。A mobile robot is a comprehensive system integrating environmental perception, dynamic decision-making and planning, behavior control and execution. It integrates multi-disciplinary research results in sensor technology, information processing, electronic engineering, computer engineering, automation control engineering, and artificial intelligence. It represents the highest achievement of mechatronics and is one of the most active fields of science and technology development. With the continuous improvement of robot performance, the application range of mobile robots has been greatly expanded, not only in industry, agriculture, medical care, service and other industries, but also in harmful and dangerous occasions such as urban security, national defense and space detection. great application. Therefore, mobile robot technology has received widespread attention from all over the world.
并联机器人具有无累积误差、精度较高、结构紧凑、承载能力大、刚度高且末端执行器惯性小等特点，驱动装置可置于定平台上或接近定平台的位置，这样运动部分重量轻，速度高，动态响应好；但是并联机器人的明显缺点是工作空间小和结构复杂。工程上现有的带有局部闭链的操作机如MOTOMAN-K10并没有解决工业机器人存在的问题，而含有对称机构式的闭环子链的并联机器人的性能比一般的并联机构更加优越，具有工作空间大、刚度高、承载能力强、惯量小和末端执行器精度高等优点，能应用在焊接、喷涂、搬运、装卸、装配、码垛等复杂作业中，有效的的提高劳动效率，在产品质量和稳定性方面有很大提高。采用圆柱坐标型和关节坐标型的机械手能有效而快捷的对末端机构进行控制，并且这种机构结构刚度好、机械传动精度高、工作空间大、机械传动损耗小、无累积误差能输出较大的动力，具有有良好的控制功能。The parallel robot has the characteristics of no cumulative error, high precision, compact structure, large carrying capacity, high rigidity, and small inertia of the end effector. The driving device can be placed on the fixed platform or close to the fixed platform, so that the moving part is light. High speed and good dynamic response; but the obvious disadvantages of parallel robots are small working space and complex structure. The existing manipulators with partial closed chains in engineering, such as MOTOMAN-K10, did not solve the problems of industrial robots, but the performance of parallel robots with closed-loop sub-chains with symmetrical mechanisms is superior to that of ordinary parallel mechanisms. With the advantages of large space, high rigidity, strong bearing capacity, small inertia and high precision of the end effector, it can be used in complex operations such as welding, spraying, handling, loading and unloading, assembly, palletizing, etc., effectively improving labor efficiency and improving product quality. and stability have been greatly improved. Cylindrical coordinate and joint coordinate manipulators can effectively and quickly control the end mechanism, and this kind of mechanism has good structural rigidity, high mechanical transmission precision, large working space, small mechanical transmission loss, and large output without cumulative error. The power, has a good control function.
发明内容Contents of the invention
本发明的目的在于提供一种具有多个闭环子链的轮式移动码垛机器人，解决传统串联机器人关于所需力矩大，刚度低和工作空间小的缺点。The purpose of the present invention is to provide a wheeled mobile palletizing robot with multiple closed-loop sub-chains, which solves the shortcomings of traditional serial robots about large torque required, low rigidity and small working space.
本发明通过以下技术方案达到上述目的：The present invention achieves the above object through the following technical solutions:
一种具有多个闭环子链的轮式移动码垛机器人，包括机身、第一连杆、第二连杆、第三连杆、第四连杆、第五连杆、第六连杆、第七连杆、第八连杆、第九连杆、第十连杆、第十一连杆、第十二连杆、第十三连杆、第十四连杆、第十五连杆、第十六连杆、末端执行器及可移动平台；A wheeled mobile palletizing robot with multiple closed-loop sub-chains, including a fuselage, a first link, a second link, a third link, a fourth link, a fifth link, a sixth link, The seventh connecting rod, the eighth connecting rod, the ninth connecting rod, the tenth connecting rod, the eleventh connecting rod, the twelfth connecting rod, the thirteenth connecting rod, the fourteenth connecting rod, the fifteenth connecting rod, Sixteenth connecting rod, end effector and movable platform;
所述第七连杆为“T”字型，在横杆部分从左至右分别设有第一连接端、第三连接端、第四连接端和第五连接端，第二连接端位于第三连接端下方；The seventh connecting rod is in the shape of a "T", with a first connecting end, a third connecting end, a fourth connecting end and a fifth connecting end respectively arranged on the cross bar part from left to right, and the second connecting end is located at the first Below the three connecting ends;
机身下端通过第一转动副连接在可移动平台上，机身上端通过第十转动副与第七连杆第二连接端连接；The lower end of the fuselage is connected to the movable platform through the first rotating pair, and the upper end of the fuselage is connected to the second connection end of the seventh connecting rod through the tenth rotating pair;
第一连杆一端通过第二转动副与机身第二连接端连接，第一连杆另一端通过第三转动副与第二连杆下端连接，第二连杆上端通过第十一转动副与第七连杆第一连接端连接；One end of the first connecting rod is connected to the second connection end of the fuselage through the second rotating pair, the other end of the first connecting rod is connected to the lower end of the second connecting rod through the third rotating pair, and the upper end of the second connecting rod is connected to the eleventh rotating pair. The first connecting end of the seventh connecting rod is connected;
第三连杆一端通过第四转动副连接在第二连杆上，第四转动副位于第三转动副与第十一转动副之间，第三连杆另一端通过第五转动副与第四连杆下端连接，第四连杆上端通过第九转动副与第七连杆第三连接端连接；One end of the third connecting rod is connected to the second connecting rod through the fourth rotating pair, the fourth rotating pair is located between the third rotating pair and the eleventh rotating pair, and the other end of the third connecting rod is connected to the fourth rotating pair through the fifth rotating pair. The lower end of the connecting rod is connected, and the upper end of the fourth connecting rod is connected with the third connecting end of the seventh connecting rod through the ninth rotating pair;
第五连杆一端通过第六转动副连接第四连杆上，第六转动副位于第五转动副与第九转动副之间，第五连杆另一端通过第七转动副与第六连杆一端连接，第六连杆另一端通过第八转动副与第七连杆第五连接端连接；One end of the fifth connecting rod is connected to the fourth connecting rod through the sixth rotating pair, the sixth rotating pair is located between the fifth rotating pair and the ninth rotating pair, and the other end of the fifth connecting rod is connected to the sixth connecting rod through the seventh rotating pair One end is connected, and the other end of the sixth connecting rod is connected with the fifth connecting rod of the seventh connecting rod through the eighth rotating pair;
第八连杆一端通过第十二转动副与第七连杆第四连接端连接，第八连杆另一端通过第十五转动副与第十一连杆一端连接，第十一连杆另一端通过第十六转动副与第九连杆一端连接，第九连杆另一端通过第八转动副与第七连杆第五连接端连接；One end of the eighth connecting rod is connected to the fourth connecting end of the seventh connecting rod through the twelfth rotating pair, the other end of the eighth connecting rod is connected to one end of the eleventh connecting rod through the fifteenth rotating pair, and the other end of the eleventh connecting rod Connect with one end of the ninth connecting rod through the sixteenth rotating pair, and connect the other end of the ninth connecting rod with the fifth connection end of the seventh connecting rod through the eighth rotating pair;
第十五连杆一端通过第十二转动副与第七连杆第四连接端连接，第十五连杆另一端通过第十三转动副与第十连杆一端连接，第十连杆另一端通过第十四转动副与第十六连杆一端连接，第十六连杆另一端通过第八转动副与第七连杆第五连接端连接；One end of the fifteenth connecting rod is connected to the fourth connection end of the seventh connecting rod through the twelfth rotating pair, the other end of the fifteenth connecting rod is connected to one end of the tenth connecting rod through the thirteenth rotating pair, and the other end of the tenth connecting rod One end of the sixteenth connecting rod is connected through the fourteenth rotating pair, and the other end of the sixteenth connecting rod is connected with the fifth connecting rod of the seventh connecting rod through the eighth rotating pair;
第十二连杆一端刚性连接在第八转动副转轴侧壁上上，第十二连杆另一端通过第十七转动副与第十三连杆一端连接，第十三连杆另一端通过第十八转动副与第十四连杆一端连接，第十四连杆另一端通过第十九转动副与末端执行器连接。One end of the twelfth connecting rod is rigidly connected to the side wall of the rotating shaft of the eighth rotating pair, the other end of the twelfth connecting rod is connected to one end of the thirteenth connecting rod through the seventeenth rotating pair, and the other end of the thirteenth connecting rod is connected through the The eighteenth rotating pair is connected to one end of the fourteenth connecting rod, and the other end of the fourteenth connecting rod is connected to the end effector through the nineteenth rotating pair.
所述第一转动副垂直于可移动平台，第二转动副、第三转动副、第四转动副、第五转动副、第六转动副、第七转动副、第八转动副、第九转动副、第十转动副、第十一转动副、第十二转动副、第十三转动副、第十四转动副、第十五转动副与第十六转动副旋转轴线相互平行。The first turning pair is perpendicular to the movable platform, the second turning pair, the third turning pair, the fourth turning pair, the fifth turning pair, the sixth turning pair, the seventh turning pair, the eighth turning pair, the ninth turning pair The axes of rotation of the pair, the tenth, the eleventh, the twelfth, the thirteenth, the fourteenth, the fifteenth and the sixteenth are parallel to each other.
所述机身上的第十转动副与第二转动副之间有通槽，第三连杆从通槽中穿过。There is a through slot between the tenth rotating pair and the second rotating pair on the fuselage, and the third connecting rod passes through the through slot.
所述第八连杆与第十五连杆分别固定连接在第十二转动副的转轴两端；第九连杆与第十六连杆分别固定连接在第八转动副的转轴两端。The eighth connecting rod and the fifteenth connecting rod are respectively fixedly connected to both ends of the rotating shaft of the twelfth rotating pair; the ninth connecting rod and the sixteenth connecting rod are respectively fixedly connected to both ends of the rotating shaft of the eighth rotating pair.
本发明的突出优点在于：The outstanding advantages of the present invention are:
1、通过两个并联闭环子链，提高了机器人机构的刚度，并且闭环子链机构式的设计大大提高机器人的工作空间，能避免机构的死点位置，微调装置能使机器人的作用范围更大，并且能使机构更好的保持平衡；1. Through two parallel closed-loop sub-chains, the rigidity of the robot mechanism is improved, and the design of the closed-loop sub-chain mechanism greatly improves the working space of the robot, which can avoid the dead point position of the mechanism, and the fine-tuning device can make the robot have a larger range of action , and can better maintain the balance of the organization;
2、与传统的电机是安装在每个关节处的工业机器人相比，机构通过两个并联闭环子链连接的机器人的电机是安装在四杆机构关节上，通过四杆机构上的运动副驱动闭环链运动，从而间接驱动末端连杆，使末端执行器的活动度和活动空间更大，能减小能动力矩；2. Compared with the traditional industrial robot whose motor is installed at each joint, the motor of the robot whose mechanism is connected by two parallel closed-loop sub-chains is installed on the joint of the four-bar mechanism, driven by the motion pair on the four-bar mechanism Closed-loop chain movement, thereby indirectly driving the end link, making the end effector more movable and moving space, and can reduce the active moment;
3、机器人安装在移动平台上，这种结构使机器人拥有几乎无限大的工作空间和高度的运动冗余性，并同时具有移动和操作功能，这是它优于移动机器人和传统的机器人；3. The robot is installed on the mobile platform. This structure enables the robot to have an almost infinite working space and a high degree of motion redundancy, and has both moving and operating functions, which is superior to mobile robots and traditional robots;
4、移动机器人具有移动功能，在代替人从事危险、恶劣(如辐射、有毒等)环境下作业和人所不及的(如宇宙空间、水下等)环境作业方面，比一般机器人有更大的机动性、灵活性；4. The mobile robot has the function of moving, and it has greater advantages than ordinary robots in replacing people in dangerous, harsh (such as radiation, poisonous, etc.) Mobility, flexibility;
5、电机安装在第五连杆的后面，降低了整个机构的重心，而且可以安装功率较大的电机在机构上，使末端执行器可以适应在焊接、喷涂、搬运、装卸、装配、码垛等复杂作业中；5. The motor is installed behind the fifth connecting rod, which lowers the center of gravity of the whole mechanism, and a motor with a larger power can be installed on the mechanism, so that the end effector can be used in welding, spraying, handling, loading and unloading, assembly, and stacking and other complex operations;
6、机构上的微调装置与传统的带有局部闭链的操作机相比，重心集中在微调装置上，机构平衡性好，能使机器人机构承受更大的力和力矩；6. The fine-tuning device on the mechanism is compared with the traditional manipulator with partial closed chain, the center of gravity is concentrated on the fine-tuning device, the mechanism is well balanced, and the robot mechanism can bear greater force and moment;
附图说明Description of drawings
图1为本发明所述具有多个闭环子链的轮式移动码垛机器人的结构示意图。Fig. 1 is a structural schematic diagram of a wheeled mobile palletizing robot with multiple closed-loop sub-chains according to the present invention.
图2为本发明所述具有多个闭环子链的轮式移动码垛机器人的可移动平台结构示意图。Fig. 2 is a schematic structural diagram of the movable platform of the wheeled mobile palletizing robot with multiple closed-loop sub-chains according to the present invention.
图3为本发明所述具有多个闭环子链的轮式移动码垛机器人的机身结构示意图。Fig. 3 is a schematic diagram of the fuselage structure of the wheeled mobile palletizing robot with multiple closed-loop sub-chains according to the present invention.
图4为本发明所述具有多个闭环子链的轮式移动码垛机器人的第二连杆示意图。Fig. 4 is a schematic diagram of the second connecting rod of the wheeled mobile palletizing robot with multiple closed-loop sub-chains according to the present invention.
图5为本发明所述具有多个闭环子链的轮式移动码垛机器人的第七连杆示意图。Fig. 5 is a schematic diagram of the seventh connecting rod of the wheeled mobile palletizing robot with multiple closed-loop sub-chains according to the present invention.
图6为本发明所述具有多个闭环子链的轮式移动码垛机器人的第八连杆示意图。Fig. 6 is a schematic diagram of the eighth connecting rod of the wheeled mobile palletizing robot with multiple closed-loop sub-chains according to the present invention.
图7为本发明所述具有多个闭环子链的轮式移动码垛机器人的第九连杆示意图。Fig. 7 is a schematic diagram of the ninth connecting rod of the wheeled mobile palletizing robot with multiple closed-loop sub-chains according to the present invention.
图8为本发明所述具有多个闭环子链的轮式移动码垛机器人的第十三连杆示意图。Fig. 8 is a schematic diagram of the thirteenth connecting rod of the wheeled mobile palletizing robot with multiple closed-loop sub-chains according to the present invention.
图9为本发明所述具有多个闭环子链的轮式移动码垛机器人的第十四连杆示意图。Fig. 9 is a schematic diagram of the fourteenth connecting rod of the wheeled mobile palletizing robot with multiple closed-loop sub-chains according to the present invention.
图10为本发明所述具有多个闭环子链的轮式移动码垛机器人的另一视角示意图。Fig. 10 is a schematic view of another perspective of the wheeled mobile palletizing robot with multiple closed-loop sub-chains according to the present invention.
具体实施方式Detailed ways
下面结合附图及实施例对本发明的技术方案作进一步说明。The technical solutions of the present invention will be further described below in conjunction with the accompanying drawings and embodiments.
一种具有多个闭环子链的轮式移动码垛机器人，包括机身2、第一连杆3、第二连杆5、第三连杆21、第四连杆19、第五连杆18、第六连杆16、第七连杆29、第八连杆7、第九连杆15、第十连杆11、第十一连杆12、第十二连杆23、第十三连杆24、第十四连杆26、第十五连杆40、第十六连杆41、末端执行器28及可移动平台1；A wheeled mobile palletizing robot with multiple closed-loop sub-chains, including a fuselage 2, a first link 3, a second link 5, a third link 21, a fourth link 19, and a fifth link 18 , the sixth connecting rod 16, the seventh connecting rod 29, the eighth connecting rod 7, the ninth connecting rod 15, the tenth connecting rod 11, the eleventh connecting rod 12, the twelfth connecting rod 23, the thirteenth connecting rod 24. The fourteenth connecting rod 26, the fifteenth connecting rod 40, the sixteenth connecting rod 41, the end effector 28 and the movable platform 1;
所述第七连杆29为“T”字型，在横杆部分从左至右分别设有第一连接端291、第三连接端293、第四连接端294和第五连接端295，第二连接端292位于第三连接端293下方；The seventh connecting rod 29 is a "T" shape, and the first connecting end 291, the third connecting end 293, the fourth connecting end 294 and the fifth connecting end 295 are respectively provided on the cross bar part from left to right. The second connecting end 292 is located below the third connecting end 293;
机身2下端通过第一转动副32连接在可移动平台1上，机身2上端通过第十转动副30与第七连杆29第二连接端292连接；The lower end of the fuselage 2 is connected to the movable platform 1 through the first rotating pair 32, and the upper end of the fuselage 2 is connected to the second connecting end 292 of the seventh connecting rod 29 through the tenth rotating pair 30;
第一连杆3一端通过第二转动副33与机身2第二连接端33连接，第一连杆3另一端通过第三转动副4与第二连杆5下端连接，第二连杆5上端通过第十一转动副8与第七连杆29第一连接端291连接；One end of the first connecting rod 3 is connected with the second connecting end 33 of the fuselage 2 through the second rotating pair 33, and the other end of the first connecting rod 3 is connected with the lower end of the second connecting rod 5 through the third rotating pair 4, and the second connecting rod 5 The upper end is connected to the first connecting end 291 of the seventh connecting rod 29 through the eleventh rotating pair 8;
第三连杆21一端通过第四转动副6连接在第二连杆5上，第四转动副6位于第三转动副4与第十一转动副8之间，第三连杆21另一端通过第五转动副20与第四连杆19下端连接，第四连杆19上端通过第九转动副22与第七连杆29第三连接端293连接；One end of the third connecting rod 21 is connected to the second connecting rod 5 through the fourth rotating pair 6, the fourth rotating pair 6 is located between the third rotating pair 4 and the eleventh rotating pair 8, and the other end of the third connecting rod 21 passes through The fifth rotating pair 20 is connected to the lower end of the fourth connecting rod 19, and the upper end of the fourth connecting rod 19 is connected to the third connecting end 293 of the seventh connecting rod 29 through the ninth rotating pair 22;
第五连杆18一端通过第六转动副31连接第四连杆19上，第六转动副31位于第五转动副20与第九转动副22之间，第五连杆18另一端通过第七转动副17与第六连杆16一端连接，第六连杆16另一端通过第八转动副35与第七连杆29第五连接端295连接；One end of the fifth connecting rod 18 is connected to the fourth connecting rod 19 through the sixth rotating pair 31, the sixth rotating pair 31 is located between the fifth rotating pair 20 and the ninth rotating pair 22, and the other end of the fifth connecting rod 18 passes through the seventh rotating pair 31. The rotating pair 17 is connected to one end of the sixth connecting rod 16, and the other end of the sixth connecting rod 16 is connected to the fifth connecting end 295 of the seventh connecting rod 29 through the eighth rotating pair 35;
第八连杆7一端通过第十二转动副34与第七连杆29第四连接端294连接，第八连杆7另一端通过第十五转动副10与第十一连杆12一端连接，第十一连杆12另一端通过第十六转动副14与第九连杆15一端连接，第九连杆15另一端通过第八转动副35与第七连杆29第五连接端295连接；One end of the eighth connecting rod 7 is connected to the fourth connecting end 294 of the seventh connecting rod 29 through the twelfth rotating pair 34, and the other end of the eighth connecting rod 7 is connected to one end of the eleventh connecting rod 12 through the fifteenth rotating pair 10, The other end of the eleventh connecting rod 12 is connected to one end of the ninth connecting rod 15 through the sixteenth rotating pair 14, and the other end of the ninth connecting rod 15 is connected to the fifth connecting end 295 of the seventh connecting rod 29 through the eighth rotating pair 35;
第十五连杆40一端通过第十二转动副34与第七连杆29第四连接端294连接，第十五连杆40另一端通过第十三转动副9与第十连杆11一端连接，第十连杆11另一端通过第十四转动副13与第十六连杆41一端连接，第十六连杆41另一端通过第八转动副35与第七连杆29第五连接端295连接；One end of the fifteenth connecting rod 40 is connected to the fourth connecting end 294 of the seventh connecting rod 29 through the twelfth rotating pair 34, and the other end of the fifteenth connecting rod 40 is connected to one end of the tenth connecting rod 11 through the thirteenth rotating pair 9 , the other end of the tenth connecting rod 11 is connected to one end of the sixteenth connecting rod 41 through the fourteenth rotating pair 13, and the other end of the sixteenth connecting rod 41 is connected to the fifth connecting end 295 of the seventh connecting rod 29 through the eighth rotating pair 35 connect;
第十二连杆23一端刚性连接在第八转动副35的转轴侧壁上上，第十二连杆23另一端通过第十七转动副37与第十三连杆24一端连接，第十三连杆24另一端通过第十八转动副25与第十四连杆26一端连接，第十四连杆26另一端通过第十九转动副27与末端执行器28连接。One end of the twelfth connecting rod 23 is rigidly connected to the side wall of the rotating shaft of the eighth rotating pair 35, and the other end of the twelfth connecting rod 23 is connected to one end of the thirteenth connecting rod 24 through the seventeenth rotating pair 37. The other end of the connecting rod 24 is connected to one end of the fourteenth connecting rod 26 through the eighteenth rotating pair 25 , and the other end of the fourteenth connecting rod 26 is connected to the end effector 28 through the nineteenth rotating pair 27 .
所述第一转动副32垂直于可移动平台1，第二转动副33、第三转动副4、第四转动副6、第五转动副20、第六转动副31、第七转动副17、第八转动副35、第九转动副22、第十转动副30、第十一转动副8、第十二转动副34、第十三转动副9、第十四转动副13、第十五转动副10与第十六转动副14旋转轴线相互平行。The first turning pair 32 is perpendicular to the movable platform 1, the second turning pair 33, the third turning pair 4, the fourth turning pair 6, the fifth turning pair 20, the sixth turning pair 31, the seventh turning pair 17, The eighth turning pair 35, the ninth turning pair 22, the tenth turning pair 30, the eleventh turning pair 8, the twelfth turning pair 34, the thirteenth turning pair 9, the fourteenth turning pair 13, the fifteenth turning pair The axes of rotation of the pair 10 and the sixteenth turning pair 14 are parallel to each other.
所述机身2上的第十转动副30与第二转动副33之间有通槽，第三连杆21从通槽中穿过。There is a through slot between the tenth rotating pair 30 and the second rotating pair 33 on the fuselage 2, and the third connecting rod 21 passes through the through slot.
所述第八连杆7与第十五连杆40分别固定连接在第十二转动副34的转轴两端；第九连杆15与第十六连杆41分别固定连接在第八转动副35的转轴两端。The eighth connecting rod 7 and the fifteenth connecting rod 40 are respectively fixedly connected to both ends of the rotating shaft of the twelfth rotating pair 34; the ninth connecting rod 15 and the sixteenth connecting rod 41 are respectively fixedly connected to the eighth rotating pair 35 both ends of the shaft.
所述机身2和第一连杆3在所在平面内的运动可实现末端执行器28的空间运动。The movement of the fuselage 2 and the first connecting rod 3 in the plane can realize the spatial movement of the end effector 28 .
工作原理：working principle:
机身2通过第一转动副32驱动，第一转动副32通过电机驱动，第一连杆3通过第二转动副33驱动，第十三连杆24通过第十七转动副37驱动，第十七转动副37通过电机驱动，第十四连杆26通过第十八转动副25驱动，第十八转动副25通过电机驱动，末端执行器28通过第十九转动副27驱动，第十九转动副27通过电机驱动。The fuselage 2 is driven by the first rotating pair 32, the first rotating pair 32 is driven by a motor, the first connecting rod 3 is driven by the second rotating pair 33, the thirteenth connecting rod 24 is driven by the seventeenth rotating pair 37, the tenth The seventh rotating pair 37 is driven by a motor, the fourteenth connecting rod 26 is driven by the eighteenth rotating pair 25, the eighteenth rotating pair 25 is driven by a motor, the end effector 28 is driven by the nineteenth rotating pair 27, and the nineteenth rotating pair Vice 27 is driven by a motor.
Claims (4)
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