CN112643662B - A multi-degree-of-freedom manipulating robot with force perception - Google Patents

Abstract

The invention provides a multi-degree-of-freedom operation robot with force sense perception, which comprises a tail end execution part; the transmission component is connected with the end execution component; the tail end execution part is driven by the transmission part to realize the movement of multiple degrees of freedom; the force sense sensing device is arranged on the tail end execution part and used for feeding back the external force applied to the execution part; a first actuator disposed off-center from the end effector; the first actuator drives the end effector to move along the vertical plane; the second actuator drives the transmission part to do linear motion in the horizontal direction along the plane where the transmission part is located, so that the tail end execution part is driven to do linear motion in the horizontal direction in the horizontal plane; the third actuator drives the transmission part to do pitching motion and drives the tail end execution part to do pitching motion; the robot is a closed-loop mechanism which is controlled by three actuators and has force perception, and has the advantages of high precision, quick dynamic response, simple structure, low control cost, force perception feedback and the like.

Description

A multi-degree-of-freedom manipulating robot with force perception

technical field

The invention relates to the field of robot automation, in particular to a multi-degree-of-freedom operation robot with force perception.

Background technique

It is found through the literature search of the prior art that the Chinese patent with the publication number CN107856021A proposes a multi-degree-of-freedom robot, which has a larger range of motion and more degrees of freedom, but the inverse kinematics solution has many solutions, and the solution is complicated. At the same time, it is necessary to solve the problem of linkage between various actuators, which is difficult to control and high cost. The Chinese patent publication number CN105751213A proposes a multi-degree-of-freedom robot manipulator mechanism with relatively simple control. The mechanism is relatively simple, and the control It is simple and convenient, but due to the use of the screw-nut mechanism, the response is slow, and the hydraulic mechanism is used, so the accuracy is low; the Chinese patent publication number CN205588298U proposes a simple structure of multi-degree-of-freedom robot manipulator mechanism, the same It also has the disadvantage of slow response and less degrees of freedom. The Chinese Patent Publication No. CN111820952A is a mobile throat swab sampling robot. Although the movement is flexible and has many degrees of freedom, the control mechanism is a multi-axis linkage manipulator structure, and the control is complicated. Not portable enough.

The current multi-degree-of-freedom operating robots still have problems including complex structure, high control cost or low precision, less degrees of freedom, slow response, and inability to integrate well with force perception, which cannot be applied to some specific occasions. .

Therefore, it is necessary to develop a multi-DOF manipulating robot with force feedback with simple structure, low control cost and high precision.

SUMMARY OF THE INVENTION

In view of the defects in the prior art, the purpose of the present invention is to provide a multi-degree-of-freedom operation robot with force perception.

The present invention provides a multi-degree-of-freedom operation robot with force perception, including:

end effector;

a transmission part connected with the end effector; the transmission part is arranged on a lifting platform that can move vertically, and the transmission part and the lifting platform can move synchronously; the transmission part drives the The end effector realizes multi-degree-of-freedom motion;

a force sensing device arranged on the end effector for feeding back the external force on the effector;

a first actuator arranged eccentrically with the end effector; the first actuator drives the end effector to perform circular motion on a vertical plane around its axis;

The second actuator and the third actuator connected with the transmission component, wherein the second actuator drives the transmission component to perform horizontal linear motion along the plane where it is located, thereby driving the end The execution part moves linearly along the horizontal direction in the horizontal plane; the third actuator drives the transmission part to do pitching motion, and drives the end effector to do pitching motion; enables the robot to realize the spatial position of the end effector and the Four degrees of freedom for pitch attitude.

Preferably, the transmission components include:

a rotating support platform arranged on the lifting platform; the rotating support platform can perform a rotating motion and perform synchronous movement under the driving of the lifting platform;

The guide rail base is arranged above the rotating support platform, and the lower part of the guide rail base is provided with a transmission shaft perpendicular to the direction of the guide rail; the two end faces of the transmission shaft are respectively provided with a protruding first plane shaft and a second plane shaft ;

a bearing support seat arranged on the rotating support platform, the bearing support is provided with a first bearing connected with the transmission shaft;

The guide rail is arranged above the guide rail base; the guide rail is provided with a sliding block matched with it, and the sliding block can move along the direction of the guide rail;

a moving platform connected with the sliding block, the moving platform moves synchronously under the driving of the sliding block;

a first connecting rod, the lower end of the first connecting rod is connected with the side surface of the moving platform through a second bearing;

a second connecting rod, the upper end of the second connecting rod is connected with the upper end of the first connecting rod through a third bearing, and the lower end of the second connecting rod is used for connecting the second actuator; the first connecting rod The axial direction of the three bearings is parallel to the horizontal direction;

The second connecting rod moves in a circular motion under the action of the second actuator, and the upper end point of the first connecting rod is connected with one end of the second connecting rod through a third bearing to make a circular motion. The lower end point of the first link is connected with the moving platform to move in a straight line along the direction of the guide rail; the movement of the slider, the moving platform, the first link, and the second link All lie in the same vertical plane.

Preferably, the guide rail has a T-shaped chute matched with the slider; the bottom of the T-shaped chute has a countersunk through hole, so that the guide rail can be fixed on the guide rail base through a connecting piece.

Preferably, the upper end of the second connecting rod is provided with a first cover plate, the first cover plate extends to the middle section of the second connecting rod, and is fixed with the second connecting rod through a connecting piece; the The third bearing is placed in the middle of the cover plate and the second connecting rod through a tight fit;

Preferably, the upper end and the lower end of the first connecting rod are respectively provided with protruding shafts; the protruding shaft on the upper end of the first connecting rod is matched with the inner ring of the third bearing, and is connected to the The bearing block on the other side of the third bearing is connected; and the shaft protruding from the upper end of the first connecting rod is coaxial with the third bearing; the axial direction of the third bearing is with the second actuator The axial direction of the driving shaft is parallel;

Preferably, the side of the mobile platform is provided with a countersunk head matched with the outer ring of the second bearing, and at the same time the outer side of the countersunk head fixes the second bearing in the mobile platform through a second cover plate, so The second cover plate is fixed on the moving platform through the connecting piece; the shaft protruding from the lower end of the first connecting rod is connected with the bearing block on the other side of the second bearing through the connecting piece, the first connecting rod The shaft protruding from the lower end of the shaft is arranged coaxially with the second bearing.

Preferably, the multi-degree-of-freedom operation robot with force perception includes: a power-off brake device disposed on one side of the transmission shaft; the power-off brake device includes:

a brake support seat arranged on the rotating support platform, the lower part of the brake support seat is fixed with the rotating support platform by bolts;

The holding brake is arranged on the holding seat of the holding brake; the holding brake is arranged on one side of the transmission shaft, and the holding brake is connected with the first plane shaft of the transmission shaft through the first flange plate; The holding brake is coaxially arranged with the drive shaft; when the equipment is powered off, the holding brake tightly holds the drive shaft under the guide rail base, so that the guide rail is in a locked state during the power off stage, and at the same time reduces the The circumferential force on the driving shaft of the third actuator.

Preferably, the third actuator is arranged on the rotating support platform and is located on the other side of the guide rail base; the third actuator is connected to the first flange of the transmission shaft through the second flange Two plane shafts are connected; the third actuator, the transmission shaft and the brake are coaxially arranged; in the case of electrification, the driving shaft of the third actuator drives the transmission shaft under the guide rail base Rotate to adjust the pitch angle of the guide rail above; at this time, the brake acts as a bearing.

Preferably, the second actuator is arranged at the end of the guide rail base, and is close to one end of the guide rail; the second actuator is connected to the second link through the third flange. Fixed bottom.

Preferably, the end effector comprises:

a base arranged coaxially with the first actuator;

A shell disposed on the base; the shell has a horizontal accommodating space, and one end of the horizontal accommodating space is an open end, and the open end of the horizontal accommodating space is connected with the base, so that the The open end is closed to form a closed space;

an actuator mounting seat arranged at one end of the horizontal accommodating space; and the actuator mounting seat and the base are eccentrically arranged;

An actuator fixed with the actuator mounting seat; one end of the actuator is inserted into the actuator mounting seat through the casing and fixed by a top-fastening screw; and the actuator and the base are eccentrically arranged; The first actuator drives the base to rotate around its own axis, so that the actuator mounting seat can perform a circular motion around the axis of the base on a plane perpendicular to the direction of the guide rail;

A spring is arranged at the open end of the horizontal accommodating space, one end of the spring is connected with the end of the actuator mounting seat, and the other end of the spring is pressed against the base.

Preferably, one end of the actuator mounting seat is axially provided with a mounting hole for inserting the actuator, and the mounting hole and the actuator are in clearance fit and are fixed by the jacking screw.

Preferably, the force sensing device includes:

a first pressure sensor arranged at the other end of the spring, the first pressure sensor is connected with the other end of the spring; the first pressure sensor is used to collect the axial force received by the actuator;

a second pressure sensor arranged on one side of the actuator mounting seat;

A third pressure sensor disposed on the other side of the actuator mounting seat, the third pressure sensor and the second pressure sensor are arranged symmetrically; the second pressure sensor and the third pressure sensor are used to collect all The circumferential force on the actuator and the force on the horizontal plane perpendicular to the direction of the guide rail.

Compared with the prior art, the present invention has at least one of the following beneficial effects:

The above-mentioned robot of the present invention has three actuators arranged in sequence on the transmission chain as active mechanisms, which are connected in series with each other, the structure is simple, the control is simple, and the control cost is low; it is suitable for effective and precise control of multiple degrees of freedom of the end actuator, and has high precision It has the advantages of high height, simple structure, fast dynamic response and low control cost, and can control the omnidirectional movement of the end effector within a controllable range.

The robot of the present invention has high integration and good portability, can be installed on any static platform, and has good environmental adaptability.

The robot of the present invention is provided with a force sensor in the end effector, so that the whole mechanism has force feedback and has a wider application range.

Description of drawings

Other features, objects and advantages of the present invention will become more apparent by reading the detailed description of non-limiting embodiments with reference to the following drawings:

1 is a schematic structural diagram of a multi-degree-of-freedom manipulation robot with force perception according to a preferred embodiment of the present invention;

2 is a schematic structural diagram of another angle of a multi-degree-of-freedom manipulation robot with force perception according to a preferred embodiment of the present invention;

3 is a schematic structural diagram of an end effector according to a preferred embodiment of the present invention;

Fig. 4 is the sectional view of Fig. 3;

5 is a cross-sectional view of a force sensing device installed in an end effector according to a preferred embodiment of the present invention;

The marks in the figure are respectively: end effector 1, first actuator 2, mobile platform 3, first link 4, second link 5, second actuator 6, guide rail base 7, guide rail 8, slide Block 9, third actuator 10, brake 11, brake support base 12, bearing support base 13A, bearing support base 13B, rotating support platform 14, lifting platform 15, housing 101, base 102, actuator 103, top The tightening screw 104, the spring 105, the actuator mounting seat 106, the first pressure sensor 107C, the second pressure sensor 107A, and the third pressure sensor 107B.

Detailed ways

The present invention will be described in detail below with reference to specific embodiments. The following examples will help those skilled in the art to further understand the present invention, but do not limit the present invention in any form. It should be noted that, for those skilled in the art, several modifications and improvements can be made without departing from the concept of the present invention. These all belong to the protection scope of the present invention.

Referring to FIG. 1, it is a schematic structural diagram of a multi-degree-of-freedom operation robot with force perception according to a preferred embodiment of the present invention, including: a transmission component, an end effector 1, a force perception device, a first actuator 2, a first Two actuators 6 and a third actuator 10 .

The transmission part is arranged on the lifting platform 15 which can move vertically, and the transmission part and the lifting platform 15 can move synchronously. The lifting platform 15 can be fixed on any platform. The lift platform 15 can extend the range of motion of the end effector 1 in the vertical plane.

The end effector part 1 is connected with the transmission part, and the end effector part 1 is driven by the transmission part to realize the movement of multiple degrees of freedom.

The force sensing device is arranged on the end effector 1 and is used to feedback the external force on the effector 103 .

The first actuator 2 is eccentrically installed with the end effector 1; the first actuator 2 drives the end effector 1 to perform circular motion on a vertical plane around its axis.

The second actuator 6 and the third actuator 10 are connected to the transmission component, wherein the second actuator 6 drives the transmission component to perform linear movement in the horizontal direction along the plane where it is located, thereby driving the end effector 1 in the horizontal plane Make a straight line movement in the horizontal direction. The third actuator 10 drives the transmission part to perform pitching motion, thereby driving the end effector 1 to perform pitching motion; enabling the robot to realize four degrees of freedom including the spatial position of the end effector 103 and the pitch angle attitude.

The above-mentioned multi-degree-of-freedom operation robot with force perception is controlled by three actuators in series on the transmission chain and a closed-loop mechanism with force perception, compared with other multi-degree-of-freedom operation robots composed of multi-joint mechanical arm structures. It has the advantages of simple structure, low control cost and high precision; the whole mechanism can be installed on a static platform, and the transmission part has a simple structure and is controlled by an actuator, so the dynamic response is fast.

In other preferred embodiments, the transmission components include a rotating support platform 14, a guide rail base 7, a bearing support base 13A, a bearing support base 13B, a guide rail 8, a slider 9, a moving platform 3, a first link 4 and a second link rod 5; where,

The rotating support platform 14 is fixed on the lifting platform 15 by bolts;

The guide rail base 7 is arranged above the rotating support platform 14, and a transmission shaft is arranged below the guide rail base 7, and the transmission shaft is perpendicular to the direction of the guide rail; the two ends of the transmission shaft are respectively provided with a protruding first plane axis and a second plane axis .

The bearing support base 13A and the bearing support base 13B arranged on the rotating support platform 14 are provided with a first bearing connected to the transmission shaft.

The guide rail 8 is fixed above the guide rail base 7 by bolts. The guide rail 8 is connected with a sliding block 9 matched with it, and the sliding block 9 can move along the direction of the guide rail 8 . The slider 9 is constrained by the guide rail 8 to move only in the plane of the guide rail 8 and the direction of the guide rail 8 .

The moving platform 3 is fixed on the slider 9 by bolts, and the moving platform 3 moves synchronously under the driving of the slider 9 . The first actuator 2 can be fixed on the moving platform 3 by bolts.

The lower end of the first connecting rod 4 is connected with the side surface of the moving platform 3 through the second bearing.

The upper end of the second connecting rod 5 is connected with the upper end of the first connecting rod 4 through the third bearing, and the lower end of the second connecting rod 5 is used to connect the second actuator 6; the axial direction of the third bearing is parallel to the horizontal direction; The moving platform 3 , the slider 9 , the guide rail 8 , the first connecting rod 4 , the second connecting rod 5 and the second actuator 6 constitute a crank-slider mechanism. The second connecting rod 5 moves in a circular motion under the action of the second actuator 6. The upper end point of the first connecting rod 4 is connected with one end of the second connecting rod 5 through a third bearing to make a circular motion, and the first connecting rod 4 The lower end point of the slider is connected with the moving platform 3 for linear movement along the direction of the guide rail 8; the movements of the slider 9, the moving platform 3, the first link 4 and the second link 5 are all located in the same vertical plane.

In other preferred embodiments, the guide rail 8 has a T-shaped chute matched with the sliding block 9, so that the sliding block 9 can move forward and backward along the direction of the T-shaped sliding groove; the bottom of the T-shaped sliding groove has a countersunk head through hole, In order to fix the guide rail 8 on the guide rail base 7 through the connecting piece. T-shaped chute structure is adopted for easy disassembly and installation.

In other preferred embodiments, the upper end side of the second connecting rod 5 is provided with a first cover plate, the first cover plate is matched with the second connecting rod 5, and the first cover plate is mainly used for the installation of the bearing. The first cover plate extends to the middle section of the second connecting rod 5, and is fixed on the second connecting rod 5 through connecting pieces (bolts can be used); the third bearing is placed on the first cover plate and the second connecting rod 5 through a tight fit in the middle. The driving shaft of the second actuator 6 is connected with the end of the second connecting rod 5 without the cover plate by bolts through the flange.

The upper and lower ends of the first connecting rod 4 are respectively provided with protruding shafts; the protruding shafts on the upper end of the first connecting rod 4 are matched with the inner ring of the third bearing in the second connecting rod 5, and are connected through a connecting piece (which can be bolt) is connected with the bearing block on the other side of the third bearing; and the shaft protruding from the upper end of the first connecting rod 4 is coaxial with the third bearing; the axial direction of the third bearing is the driving shaft of the second actuator 6 axially parallel.

The side of the mobile platform 3 is provided with a countersunk head matched with the outer ring of the second bearing, and the second bearing is fixed in the mobile platform 3 through a second cover plate on the outside of the countersunk head. ) is fixed on the mobile platform 3; the shaft protruding from the lower end of the first connecting rod 4 is connected with the bearing block on the other side of the second bearing through a connecting piece (bolt can be used), and the protruding shaft at the lower end of the first connecting rod 4 The shaft is arranged coaxially with the second bearing.

In other preferred embodiments, the large hole of the upper stepped hole of the bearing support seat 13 is matched with the outer edge of the first bearing, and the end face of the outer small hole assists the axial positioning of the first bearing; And according to the force distribution, the inner reinforcement is higher than the outer reinforcement.

In other preferred embodiments, the multi-DOF operation robot with force perception is further provided with a power-off brake device; the power-off brake device includes: a brake support base 12 and a brake 11 .

The brake support base 12 is disposed on the rotating support platform 14 , and the lower part of the brake support base 12 is fixed to the rotating support platform 14 by bolts.

The brake 11 is arranged on the brake support base; the brake 11 is arranged on one side of the transmission shaft, and the brake 11 is connected with the first plane shaft of the transmission shaft through the first flange; the brake 11 is arranged coaxially with the transmission shaft ; When the equipment is powered off, the brake 11 holds the drive shaft below the guide rail base 7, so that the guide rail 8 is in a locked state during the power off stage, and at the same time reduces the circumferential force on the driving shaft of the third actuator 10.

In other preferred embodiments, the third actuator 10 is installed on the rotating support platform 1414 through threaded holes, and is located on the other side of the guide rail base 7; the third actuator 10 is connected to the transmission shaft through the second flange plate The second plane shaft is connected; the third actuator 10, the transmission shaft and the holding brake 11 are coaxially arranged. In the case of power-on, the driving shaft of the third actuator 10 drives the drive shaft under the guide rail base 7 to rotate, and adjusts the pitch angle of the upper guide rail 8; at this time, the holding brake 11 plays the role of a bearing, reducing the driving force of the third actuator 10 The circumferential force on the shaft.

The second actuator 6 is fixed on the guide rail base 7 through mounting holes and bolts, and the second actuator 6 is located at the end of the guide rail base 7 and is close to one end of the guide rail 8; the second actuator 6 passes through the third The flange plate is fixed to the lower end of the second connecting rod 5 .

Through the active control of the third actuator 10 and the second actuator 6, the end effector 1 can reach any position within a limited range in the vertical plane parallel to the direction of the guide rail 8; at the same time, the third actuator 10 The pitch angle of the guide rail 8 can also be controlled.

In other preferred embodiments, as shown in FIG. 3 , FIG. 4 and FIG. 5 , the end effector 11 is fixed on the rotating shaft of the first actuator 2 through a flange; the end effector 1 includes: a base 102 , a casing 101. The actuator 103 and the spring 105; wherein, the base 102 is connected with the flange of the first actuator 2 through bolts. The base 102 is coaxial with the first actuator 2 ; the first actuator 2 is fixed on the moving platform 3 by bolts.

One end of the casing 101 and one end of the base 102 can be connected by bolts; the casing 101 has a horizontal accommodation space, and one end of the horizontal accommodation space is an open end, and the open end of the horizontal accommodation space is connected with the base 102 through the base The end face of 102 closes the open end to form a closed space. Using the housing 101, the actuator mounting seat 106, the spring 105 and the force sensing device can be packaged in a closed space.

The actuator mounting seat 106 is installed at one end of the horizontal accommodating space; and the actuator mounting seat 106 and the base 102 are eccentrically installed; the first actuator 2 drives the base 102 to rotate around its own axis, so that the actuator mounting seat 106 can revolve around the base 102 The axis of the runner makes a circular motion on a plane perpendicular to the direction of the guide rail 8.

The actuator 103 is fixed with the actuator mount 106 ; one end of the actuator 103 is inserted into the actuator mount 106 through the housing 101 and fixed by two tightening screws 104 ; and the actuator 103 and the base 102 are eccentrically arranged.

The spring 105 is disposed at the open end of the horizontal accommodating space, one end of the spring 105 is connected to the end of the actuator mounting seat 106 , and the other end of the spring 105 is pressed against the base 102 . The spring 105 can be elastically deformed in the axial direction.

In other preferred embodiments, one end of the actuator mounting seat 106 is axially provided with a mounting hole for inserting the actuator 103 , and the mounting hole and the actuator 103 are in clearance fit and are fixed by the top screw 104 .

In other preferred embodiments, as shown in FIG. 5 , the force sensing device includes a first pressure sensor 107C, a second pressure sensor 107A and a third pressure sensor 107B; wherein,

The first pressure sensor 107C is attached to the base 102, and the first pressure sensor 107C is disposed on the other end of the spring 105, that is, the other end of the spring 105 is pressed against the first pressure sensor 107C. The first pressure sensor 107C collects the axial force received by the actuator 103 .

The second pressure sensor 107A is arranged on one side of the actuator mount 106; the second pressure sensor 107A can be attached to the side of the actuator mount 106; the third pressure sensor 107B is arranged on the other side of the actuator mount 106; The three pressure sensors 107B are arranged symmetrically with the second pressure sensor 107A; the third pressure sensor 107B can be attached to the other side of the actuator mounting seat 106; the second pressure sensor 107A and the third pressure sensor 107B are used to collect the actuator The circumferential force on 103 and the force on the horizontal plane perpendicular to the direction of the guide rail.

The first pressure sensor 107C, the second pressure sensor 107A and the third pressure sensor 107B are all located in the same horizontal plane.

The multi-degree-of-freedom operation robot with force perception described in the above embodiment can be applied to the collection of various specimens. The actuator 103 can be regarded as the object to be operated, such as a throat swab, etc., through the lifting platform 15, the third actuation The fixed connection of the actuator 10, the second actuator 6, the first actuator 2 and the end effector mounting seat 106 can realize all-round control of the throat swab, and the end position and posture of the throat swab collection mechanism There is a one-to-one correspondence with the motion parameters of each active mechanism, and the inverse kinematics solution is easy to obtain, which greatly reduces the control complexity.

Specific embodiments of the present invention have been described above. It should be understood that the present invention is not limited to the above specific embodiments, and those skilled in the art can make various variations or modifications within the scope of the claims, which do not affect the essence of the present invention.

Claims (4)

1. a multi-degree-of-freedom operation robot with force perception, is characterized in that, comprises: end effector; a transmission part connected with the end effector; the transmission part is arranged on a lifting platform that can move vertically, and the transmission part and the lifting platform can move synchronously; the transmission part drives the The end effector realizes multi-degree-of-freedom motion; a force sensing device arranged on the end effector for feeding back the external force on the effector; a first actuator arranged eccentrically with the end effector; the first actuator drives the end effector to perform circular motion on a vertical plane around its axis; The second actuator and the third actuator connected with the transmission component, wherein the second actuator drives the transmission component to perform horizontal linear motion along the plane where it is located, thereby driving the end The execution part moves linearly along the horizontal direction in the horizontal plane; the third actuator drives the transmission part to do pitching motion, and drives the end effector to do pitching motion; enables the robot to realize the spatial position of the end effector and the Four degrees of freedom for pitch attitude; The transmission components include: a rotating support platform arranged on the lifting platform; the rotating support platform can perform a rotating motion and perform synchronous movement under the driving of the lifting platform; The guide rail base is arranged above the rotating support platform, and the lower part of the guide rail base is provided with a transmission shaft perpendicular to the direction of the guide rail; the two end faces of the transmission shaft are respectively provided with a protruding first plane shaft and a second plane shaft ; a bearing support seat arranged on the rotating support platform, the bearing support is provided with a first bearing connected with the transmission shaft; The guide rail is arranged above the guide rail base; the guide rail is provided with a sliding block matched with it, and the sliding block can move along the direction of the guide rail; a moving platform connected with the sliding block, the moving platform moves synchronously under the driving of the sliding block; a first connecting rod, the lower end of the first connecting rod is connected with the side surface of the moving platform through a second bearing; a second connecting rod, the upper end of the second connecting rod is connected with the upper end of the first connecting rod through a third bearing, and the lower end of the second connecting rod is used for connecting the second actuator; the first connecting rod The axial direction of the three bearings is parallel to the horizontal direction; The second connecting rod moves in a circular motion under the action of the second actuator, and the upper end point of the first connecting rod is connected with one end of the second connecting rod through a third bearing to make a circular motion. The lower end point of the first link is connected with the moving platform to move in a straight line along the direction of the guide rail; the movement of the slider, the moving platform, the first link, and the second link are located in the same vertical plane; The end effector includes: a base arranged coaxially with the first actuator; A shell disposed on the base; the shell has a horizontal accommodating space, and one end of the horizontal accommodating space is an open end, and the open end of the horizontal accommodating space is connected with the base, so that the The open end is closed to form a closed space; an actuator mounting seat arranged at one end of the horizontal accommodating space; and the actuator mounting seat and the base are eccentrically arranged; An actuator fixed with the actuator mounting seat; one end of the actuator is inserted into the actuator mounting seat through the casing and fixed by a top-fastening screw; and the actuator and the base are eccentrically arranged; The first actuator drives the base to rotate around its own axis, so that the actuator mounting seat can perform a circular motion around the axis of the base on a plane perpendicular to the direction of the guide rail; a spring arranged at the open end of the horizontal accommodating space, one end of the spring is connected with the end of the actuator mounting seat, and the other end of the spring is pressed against the base; The force perception device includes: a first pressure sensor arranged at the other end of the spring, the first pressure sensor is connected with the other end of the spring; the first pressure sensor is used to collect the axial force received by the actuator; a second pressure sensor arranged on one side of the actuator mounting seat; A third pressure sensor disposed on the other side of the actuator mounting seat, the third pressure sensor and the second pressure sensor are arranged symmetrically; the second pressure sensor and the third pressure sensor are used to collect all The circumferential force on the actuator and the force on the horizontal plane perpendicular to the direction of the guide rail; A power-off brake device arranged on one side of the transmission shaft; the power-off brake device includes: a brake support seat arranged on the rotating support platform, the lower part of the brake support seat is fixed with the rotating support platform by bolts; The holding brake is arranged on the holding seat of the holding brake; the holding brake is arranged on one side of the transmission shaft, and the holding brake is connected with the first plane shaft of the transmission shaft through the first flange plate; The holding brake is coaxially arranged with the drive shaft; when the equipment is powered off, the holding brake tightly holds the drive shaft under the guide rail base, so that the guide rail is in a locked state during the power off stage, and at the same time reduces the The circumferential force on the driving shaft of the third actuator; The third actuator is arranged on the rotating support platform and is located on the other side of the guide rail base; the third actuator is connected to the second plane axis of the transmission shaft through the second flange plate connection; the third actuator, the transmission shaft and the brake are coaxially arranged; in the case of electrification, the driving shaft of the third actuator drives the transmission shaft under the guide rail base to rotate, adjusting The pitch angle of the guide rail above; at this time, the holding brake acts as a bearing; The second actuator is arranged at the end of the guide rail base and is close to one end of the guide rail; the second actuator is fixed to the lower end of the second link through a third flange. 2 . The multi-DOF operation robot with force perception according to claim 1 , wherein the guide rail has a T-shaped chute matched with the slider; the bottom of the T-shaped chute has Countersunk head through holes, so that the guide rail is fixed on the guide rail base through the connecting piece. 3. The multi-DOF operating robot with force perception according to claim 1, characterized in that, it has one or more of the following characteristics: The upper end of the second connecting rod is provided with a first cover plate, the first cover plate extends to the middle section of the second connecting rod, and is fixed with the second connecting rod through a connecting piece; the third bearing Placed in the middle of the cover plate and the second connecting rod through a tight fit; The upper end and the lower end of the first connecting rod are respectively provided with protruding shafts; the protruding shaft on the upper end of the first connecting rod is matched with the inner ring of the third bearing, and is connected to the third bearing through the connecting piece The bearing block on the other side is connected; and the shaft protruding from the upper end of the first connecting rod is coaxial with the third bearing; the axial direction of the third bearing is with the driving shaft of the second actuator The axial direction is parallel; The side of the mobile platform is provided with a countersunk head that is matched with the outer ring of the second bearing. At the same time, the outside of the countersunk head fixes the second bearing in the mobile platform through a second cover plate. The cover plate is fixed on the moving platform through the connecting piece; the shaft protruding from the lower end of the first connecting rod is connected with the bearing block on the other side of the second bearing through the connecting piece, and the first connecting rod is The shaft protruding from the lower end is arranged coaxially with the second bearing. The multi-degree-of-freedom manipulation robot with force perception according to claim 1, wherein one end of the actuator mounting seat is provided with a mounting hole along the axial direction for inserting the actuator, and the The installation hole and the actuator are in clearance fit, and are fixed by the top tightening screw.

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