CN104444418B - Eighteen-degree-of-freedom robot with bucket - Google Patents

Eighteen-degree-of-freedom robot with bucket Download PDF

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Publication number
CN104444418B
CN104444418B CN201410625528.8A CN201410625528A CN104444418B CN 104444418 B CN104444418 B CN 104444418B CN 201410625528 A CN201410625528 A CN 201410625528A CN 104444418 B CN104444418 B CN 104444418B
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China
Prior art keywords
rod
leg
branched
pedipulator
freedom
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CN104444418A (en
Inventor
高峰
陈先宝
金振林
杜惠
潘阳
赵楠
赵一楠
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Shanghai Jiaotong University
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Shanghai Jiaotong University
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    • BPERFORMING OPERATIONS; TRANSPORTING
    • B65CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65GTRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
    • B65G65/00Loading or unloading
    • B65G65/02Loading or unloading machines comprising essentially a conveyor for moving the loads associated with a device for picking-up the loads
    • B65G65/04Loading or unloading machines comprising essentially a conveyor for moving the loads associated with a device for picking-up the loads with pick-up shovels
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B62LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
    • B62DMOTOR VEHICLES; TRAILERS
    • B62D57/00Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track
    • B62D57/02Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track with ground-engaging propulsion means, e.g. walking members
    • B62D57/032Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track with ground-engaging propulsion means, e.g. walking members with alternately or sequentially lifted supporting base and legs; with alternately or sequentially lifted feet or skid

Abstract

The invention provides a novel eighteen-degree-of-freedom robot with a bucket. Each mechanical leg is independently controlled through a driving system. A three-branch-chain parallel mechanism is adopted in each driving system, and each first branch-chain structure comprises a push rod a and a second rod piece a, wherein the push rod a is connected with a main body through a nut and a lead screw, the second rod piece a is connected with the push rod a through a hooke joint and connected with the corresponding mechanical leg through a spherical hinge, and a triangular platform is fixedly connected to the second rod piece a. Each second branch-chain structure and each third branch-chain structure comprise push rods b and second rod pieces b, wherein the push rods b are connected with the main body through nuts and lead screws, and the second rod pieces b are connected with the push rods b through hooke joints and connected with the correspondingly triangular platforms through spherical hinges. The novel eighteen-degree-of-freedom robot is a six-degree-of-freedom redundant drive moving platform, and is high in bearing capability, stale in walking, small in energy consumption, simple in operation system and easy to operate.

Description

Ten eight degrees of freedom band scraper bowl robot
Technical field
The present invention relates to walking robot technical field, specifically a kind of new ten eight degrees of freedom band scraper bowl robot.
Background technology
Legged type robot is widely used in complicated rugged terrain environment, and the rescue works Jing after such as earthquake is often needed Legged type robot is wanted to go to complete.From wheel caterpillar type robot it is different, legged type robot only needs to several independences in motor process Foothold.When rescue task is performed, robot needs to install detecting sensor (such as photographic head, laser and sonar) to supervise Environment around surveying, in addition it is also necessary to which installation operation instrument is completing to remove obstacles, open the door, find and keep in repair the works such as the pipeline of leakage Make.In these cases, heavy burden ability is an important performance indications.Different types of legged type robot lower limb number, Mechanism's design, degree of freedom, weight, size, heavy burden, speed, stability, control algolithm and application scenario are all variant.Sufficient formula machine Device people Jing often occurs in the rescue environment of complexity, generally uses static gait to obtain larger stability.The sufficient number of robot More, stability will be better, but structure and control will more sophisticateds.Therefore it provides a kind of polypody, stable and control letter Single, easy-operating robot, becomes problem demanding prompt solution in current industry.
The content of the invention
The present invention is for above-mentioned deficiency present in prior art, there is provided a kind of new ten eight degrees of freedom band scraper bowl machine People, the robot foot number is more, good stability, while having simple, the easy-operating feature of control.
The present invention is achieved by the following technical solutions.
A kind of new ten eight degrees of freedom band scraper bowl robot, including body main body and be divided to two groups averagely installed in body master The a plurality of pedipulator of body both sides;Wherein, each pedipulator individually controls motion by a drive system respectively;Each drive Dynamic system adopts three side chain parallel institutions, and the three side chains parallel institution is connected in body main body, and passes through ball pivot and right The pedipulator connection answered;Three articles of side chain parallel institutions include the first branched structure, the second branched structure and the 3rd link Structure, wherein, the first branched structure is located at the outside of three side chain parallel institutions, including push rod a and the second rod member a, the push rod a It is connected with body main body by nut and leading screw, one end of the second rod member a is connected with push rod a by Hooke's hinge, the second bar The other end of part a passes through ball pivot and corresponding pedipulator connects;Be connected on the second rod member a triangle platform;Institute The second branched structure and the 3rd branched structure are stated including push rod b and the second rod member b, wherein, push rod b pass through nut and leading screw with Body main body is connected;One end of the second rod member b is connected with push rod b by Hooke's hinge, and the other end of the second rod member b passes through ball Hinge is connected with triangle platform.
Preferably, three articles of leading screws of first branched structure, the second branched structure and the 3rd branched structure are parallel to each other, And vertically place, the projection in the horizontal plane of three leading screw central points is linked to be isosceles triangle;Meanwhile, the first branched structure, The first rotation axis of three Hooke's hinges on two branched structures and the 3rd branched structure are parallel to the base of isosceles triangle, The second rotation axis of three Hooke's hinges are intersected vertically with first rotation axis.
Preferably, the length of three push rods and three the second rod members is incomplete same.
Preferably, body main body includes that frame and scraper bowl, the frame and scraper bowl are fixed together;The frame is not advise Rectangular configuration then, the mechanical body are six, and six pedipulators are divided to two groups to be averagely arranged in frame;Wherein, the same side In three pedipulators, positioned at middle pedipulator installation site compared to which before and after two pedipulators installation site it is outwards inclined Move a segment distance;Under the cooperation of six pedipulators, body main body has D translation and Three dimensional rotation six-freedom degree.
Preferably, each pedipulator includes:Electric machine support, sleeve, motor, belt, belt pulley, leg connector, Leg control-rod, the first rod member of leg, the 3rd rod member of the second rod member of leg and leg, wherein, the motor is fixed on motor On frame, by belt drive belt pulley, belt pulley drives the leading screw of drive system to rotate to motor, and leading screw drives the spiral shell of drive system Mother moves along a straight line;The triangular platform and leg control-rod of the drive system is connected by ball pivot;The leg connector with Electric machine support rotates secondary connection by first, and the first rod member of the leg rotates pair by second with leg connector and is connected;Lower limb The first rod member of portion rotates pair by the 3rd with leg control-rod and is connected;The first rod member of leg passes through the 4th turn with the second rod member of leg Dynamic secondary connection;The leg control rod member rotates pair by the 5th with the 3rd rod member of leg and is connected;The second rod member of the leg with The 3rd rod member of leg rotates secondary connection by the 6th.
Preferably, first auxiliary direction and horizontal plane are rotated, second rotates the secondary axis direction phase that pair is rotated to the 6th Mutually parallel and vertical with the sagittal plane that first rotates auxiliary direction and pedipulator respectively, the three side chains parallel institution is one two Freedom plane-parallel type mechanism, wherein, the plane-parallel type structure of two-freedom provides sagittal plane motion for pedipulator; First rotates pair provides side-sway motion for pedipulator.
Preferably, the body main body also includes protective cover, and the protective cover installs the outside with drive system, and is connected In body main body.
Compared with prior art, the present invention has the advantages that:
1st, leg spatial three-dimensional movement is driven by a three side chain parallel institutions, drive system is fixed in the body , not only it is easy to protection, and can also farthest reduces the rotary inertia of leg.Drive system adopts moving sets conduct Drive input.The advantage of this structure is can to substitute decelerator by nut screw, effectively reduction driving cost but not shadow Ring driveability.For drive system, due to lower limb end apart from body farther out, so first should motion be equivalent is delivered to distance Where fuselage is relatively near.So motion of the shank relative to fuselage, just the equivalent rod member controlled into drive system relative to The motion of body.Now the kinetic characteristic of lower limb is not reduced.Ball pivot need to be added to the point of certain on the rod member (control points) only And mechanism is caused by carrying out accurate position control by Complete Bind.
2nd, leg carries out corresponding motion transmission by parallel-crank mechanism, disclosure satisfy that speed and carries both sides Require.
3rd, body main body is scraper bowl, can load weight, and under the cooperation of six lower limbs, body has D translation and three-dimensional Six-freedom degree is rotated, can complete to scoop up the action of article.Can load under unmanned environment, carry, unload weight.
4th, the main body of body also can be by scraper bowl with being changed to different ingredients, such as welding gun and clamping device.Because body Body has had 6, space degree of freedom, under the routing motion of six lower limbs, can be good at completing path of welding planning.And After replacing scraper bowl, the clamping device of single-degree-of-freedom or two-freedom can be assembled in the very big space of the body of robot.
5th, six lower limbs of robot are evenly distributed in body both sides, and robot is integrally tall and thin, can pass through more narrow logical Road.Robot can walk to any direction, adapt to various environment.
6th, the present invention is the walking of six degree of freedom redundant drive collection, the mobile platform of operation one, and bearing capacity is strong, OK Walk to stablize, energy consumption is little, control system is simple, easy to operate.
Description of the drawings
Detailed description non-limiting example made with reference to the following drawings by reading, the further feature of the present invention, Objects and advantages will become more apparent upon:
Fig. 1 is the overall structure diagram of the present invention, wherein, it is (a), with protective roof structure, (b) to protect not have Cover structure;
Fig. 2 is the structural representation of any one group of drive system and lower limb in the present invention, wherein, it is (a) whole for detail view (b) Body structural representation;
In figure:1 be protective cover, 2 be frame, 3 be scraper bowl, 4 be one leg, 5 be Article 2 lower limb, 6 be third leg, 7 For Article 4 lower limb, 8 be Article 5 lower limb, 9 be Article 6 lower limb, 10 be electric machine support, 11 be sleeve, 12 be servomotor, 13 be spiral shell It is female, 14 be leading screw, 15 be belt pulley, 16 be push rod, 17 be the second rod member of drive system, 18 be triangle platform, 19 be leg Control-rod, 20 be the first rod member of leg, 21 be the second rod member of leg (foot), 22 be the 3rd rod member of leg, 23 be leg connector, 24 is belt.
Specific embodiment
Below embodiments of the invention are elaborated:The present embodiment is carried out under premised on technical solution of the present invention Implement, give detailed embodiment and specific operating process.It should be pointed out that to one of ordinary skill in the art For, without departing from the inventive concept of the premise, some deformations and improvement can also be made, these belong to the guarantor of the present invention Shield scope.
Present embodiments provide a kind of new ten eight degrees of freedom band scraper bowl robot, including body main body and be divided to two groups it is flat It is installed in a plurality of pedipulator of body main body both sides;Wherein, each pedipulator is individually controlled by a drive system respectively System motion;Each drive system adopts three side chain parallel institutions, the three side chains parallel institution to be connected in body main body, And pass through ball pivot and the connection of corresponding pedipulator;Three side chain parallel institutions include the first branched structure, second link Structure and the 3rd branched structure, wherein, the first branched structure is located at the outside of three side chain parallel institutions, including push rod a and second Rod member a, the push rod a pass through nut and leading screw is connected with body main body, and one end of the second rod member a passes through Hooke's hinge and pushes away Bar a connects, and the other end of the second rod member a passes through ball pivot and the connection of corresponding pedipulator;It is connected on the second rod member a one Triangle platform;Second branched structure and the 3rd branched structure include push rod b and the second rod member b, wherein, push rod b leads to Cross nut and leading screw to be connected with body main body;One end of the second rod member b is connected with push rod b by Hooke's hinge, the second rod member b The other end be connected with triangle platform by ball pivot.
Further, three articles of leading screws of first branched structure, the second branched structure and the 3rd branched structure are mutually put down OK, and vertically place, the projection in the horizontal plane of three leading screw central points is linked to be isosceles triangle;Meanwhile, the first branched structure, The first rotation axis of three Hooke's hinges on the second branched structure and the 3rd branched structure are parallel to the bottom of isosceles triangle Side, second rotation axis and the first rotation axis of three Hooke's hinges intersect vertically.
Further, the length of three push rods and three the second rod members is incomplete same.
Further, body main body includes that frame and scraper bowl, the frame and scraper bowl are fixed together;The frame is not for The rectangular configuration of rule, the mechanical body are six, and six pedipulators are divided to two groups to be averagely arranged in frame;Wherein, the same side Three pedipulators in, positioned at middle pedipulator installation site compared to which before and after two pedipulators installation site it is outside Offset a segment distance;Under the cooperation of six pedipulators, body main body has D translation and Three dimensional rotation six-freedom degree.
Further, each pedipulator includes:Electric machine support, sleeve, motor, belt, belt pulley, leg connection Part, leg control-rod, the first rod member of leg, the 3rd rod member of the second rod member of leg and leg, wherein, the motor is fixed on motor On support, by belt drive belt pulley, belt pulley drives the leading screw of drive system to rotate to motor, and leading screw drives drive system Nut moves along a straight line;The triangular platform and leg control-rod of the drive system is connected by ball pivot;The leg connector Pair is rotated by first with electric machine support to be connected, the first rod member of the leg rotates pair by second with leg connector and is connected; The first rod member of leg rotates pair by the 3rd with leg control-rod and is connected;The first rod member of leg passes through the 4th with the second rod member of leg Rotate secondary connection;The leg control rod member rotates pair by the 5th with the 3rd rod member of leg and is connected;The second rod member of the leg Pair is rotated by the 6th with the 3rd rod member of leg to be connected.
Further, first auxiliary direction and horizontal plane are rotated, second rotates the secondary axis direction that pair is rotated to the 6th It is parallel to each other, and it is vertical with the sagittal plane that first rotates auxiliary direction and pedipulator respectively, and the three side chains parallel institution is one Two-freedom plane parallel mechanism, wherein, the plane-parallel type structure of two-freedom provides sagittal plane fortune for pedipulator It is dynamic;First rotates pair provides side-sway motion for pedipulator.
Further, also including protective cover, the protective cover installs the outside with drive system, and is connected in body main body On.
Below in conjunction with the accompanying drawings the present embodiment is further described.
Please refer to Fig. 1 (a), (b) and Fig. 2 (a), (b).
As Fig. 1 (a) and (b) are shown, the present embodiment includes:Protective cover 1, frame 2, scraper bowl 3, one leg are to Article 6 lower limb 4-9.Wherein, the electric machine support 10 (totally six) in two protective cover 1, frame 2, scraper bowl 3 also Fig. 2 (a) is fixed together, and prevents Shield 1 protects 3 groups of drive systems simultaneously.One leg 4, Article 2 lower limb 5, third leg 6 are arranged on left side of body;Article 4 lower limb 7th, Article 5 lower limb 8, Article 6 lower limb 9 are arranged on right side of body;One leg 4 and 6 installation site of third leg and body centre away from From equal, 5 relative one leg 4 of Article 2 lower limb and 6 installation site of third leg are farther apart from body centre.
The mechanism of six described lower limbs is identical, and respective drive system is also identical.
As Fig. 2 (a) and (b) are shown, one leg 4 includes:Electric machine support 10, sleeve 11, motor 12, belt pulley 15, lower limb Portion's control-rod 19, the first rod member of leg 20, the second rod member of leg 21, the 3rd rod member 22 of leg.Wherein three motors 12 are fixed on On electric machine support 10, motor 12 drives belt pulley 15, belt pulley 15 to drive leading screw 14 to rotate by belt 24, the rotation of leading screw 14 Nut 13 is driven to move along a straight line, nut 13 drives push rod 16 to move along a straight line.Three 14 directions of leading screw are vertically, parallel to each other, The projection in the horizontal plane of 14 central point of leading screw can connect into an isosceles triangle.The second rod member of push rod 16 and drive system 17 are hinged by Hooke, it is noted that the length of three push rods 16 and three the second rod members of drive system 17 is incomplete same.Triangle Platform 18 and the second rod member of drive system 17 on the push rod of outside are fixed together, other two drive system second Rod member 17 is then connected by ball pivot with triangular platform 18.Triangular platform 18 and leg control-rod 19 are also to be connected by ball pivot.Lower limb Portion's connector 23 and electric machine support 10 rotate secondary connection by first, and the secondary axis direction of the first rotation is vertical.The first bar of leg Part 20 and leg connector 23 are secondary by the second rotation at the A;It is secondary even by the 3rd rotation at the B with leg control-rod 19 Connect;With the second rod member of leg 21 by the secondary connection of the 4th rotation at the D.Leg controls rod member 19 and the 3rd rod member 22 of leg leads to The secondary connection of the 5th rotation crossed at C.The second rod member of leg 21 and the 3rd rod member 22 of leg are secondary even by the 6th rotation at the E Connect.Turns auxiliary shaft line at above-mentioned A, B, C, D, E is all parallel to each other, perpendicular to lower limb sagittal plane.
In the present embodiment:
Body main body (including frame, scraper bowl and protective cover), six groups of drive systems and six pedipulators.Wherein, body master Body portion is a large-scale scraper bowl, can load weight, and under the cooperation of six pedipulators, body has D translation and three-dimensional Six-freedom degree is rotated, can complete to scoop up the action of article.Six lower limb is divided to two groups to be arranged on body both sides.All lead to per one leg Cross a drive system control motion.Drive system includes it being a three side chain parallel institutions, and three side chain parallel institutions are connected in On body, connected by ball pivot and lower limb.There are a branched structure and two other in three side chain parallel institutions of drive system Side chain is different, is made up of two parts, and Part I is connected with body by nut screw, and Part II and Part I pass through Hooke is hinged, and is connected by ball pivot and lower limb, and be connected a triangle platform on the second portion.Two-strip structure identical Chain is also made up of two parts, and Part I is connected with body by nut screw;Part II passes through Hooke's hinge and first Split-phase connects, and is connected with the triangle platform of side chain mentioned above by ball pivot.
Three side chain parallel institutions, three leading screws of described drive system are parallel, vertically place, and three orbit centre points exist Projection on horizontal plane can be linked to be isosceles triangle.Also, on the Hooke's hinge first rotation axis on three side chains are all parallel The base of isosceles triangle is stated, second rotation axis are intersected vertically with first axle.
The described machine person is made up of frame and scraper bowl two parts, and this two parts is fixed together.Six, robot Lower limb is divided to two groups to be arranged in frame, and the installation site of the lower limb in the middle of the same side offsets one section with outside compared to two legs before and after which Distance.Therefore, frame is an irregular rectangular configuration.
Described pedipulator and body main body rotate the secondary and secondary connection of the second rotation by first, and first rotates auxiliary direction and water Plane is vertical, and second to the 6th rotates secondary axis direction is parallel to each other, and vertical with the first rotation auxiliary direction, and pedipulator Sagittal plane is vertical, and the three side chains parallel institution is a two-freedom plane parallel mechanism, wherein, the plane of two-freedom is simultaneously Be coupled structure sagittal plane motion is provided for pedipulator;First rotates pair provides side-sway motion for pedipulator.Rotate secondary Side-sway motion is produced for robot leg so that the rotation of machine human hip and the mobile decoupling of lower limb sagittal plane parallel institution, drop Low control difficulty.
Described robot, is input into as driving using moving sets.The advantage of this structure is, can by nut screw To substitute decelerator, effectively reduce driving cost but not affecting driveability.Therefore drive system adopts the structure of feed screw nut. So mechanism drive section is converted into the single-point fortune for being easy to protect by the serial mechanism of three connecting rods for being difficult to protect general Dynamic control.
Altogether six groups of described drivetrain, is also divided to two groups to be separately mounted to body both sides, outside per group of three drive systems Protective cover is installed, protective cover is connected in frame, there can be preferably protection to electronic components such as motor therein, drivers Effect.
The new operation walking integrated robot with 18 degree of freedom that the present embodiment is provided, including body (machine Frame, scraper bowl and protective cover), drive system and lower limb.Frame is made up of irregular one scraper bowl of rectangular member, both parts It is bolted together as a fixed part, i.e. the body main body of robot.Six lower limbs are divided into two groups and uniformly divide Cloth is in body both sides.Drive system is a three side chain parallel institutions, and three side chain parallel institutions are connected on body, by ball pivot Connect with lower limb.There is a branched structure different from two other side chain in three side chain parallel institutions of drive system, by two Part constitutes, and Part I is connected with body by nut screw, and Part II and Part I are hinged by Hooke, are passed through Ball pivot and lower limb connection, be connected a triangle platform on the second portion.Two-strip structure identical side chain is also by two parts Constitute, Part I is connected with body by nut screw;Part II is connected with Part I by Hooke's hinge, by ball pivot It is connected with the triangle platform of side chain mentioned above.Protective cover is installed to protect which outside drive system, in body In be fixed, be not only easy to protection, and can also farthest reduce the rotary inertia of leg.Six lower limbs of robot Mechanism is identical, is a parallelogram four-bar mechanism, is connected with body by rotating pair.Three maintenance and operations of the robot per one leg Move by three motors for controlling drive system simultaneously to realize.The walking and operation of whole robot is by control 18 simultaneously Realizing, the present embodiment has mechanism performance high to individual motor, and bearing capacity is strong, and energy consumption is little, and road surface adaptability is good, control system letter It is single, easy-operating feature.
Above the specific embodiment of the present invention is described.It is to be appreciated that the invention is not limited in above-mentioned Particular implementation, those skilled in the art can make various modifications or modification within the scope of the claims, this not shadow Ring the flesh and blood of the present invention.

Claims (6)

1. a kind of ten eight degrees of freedom band scraper bowl robot, it is characterised in that including body main body and be divided to two groups to be averagely arranged on The a plurality of pedipulator of body main body both sides;Wherein, each pedipulator individually controls motion by a drive system respectively;Often One drive system adopts three side chain parallel institutions, the three side chains parallel institution to be connected in body main body, and passes through ball Hinge and corresponding pedipulator connect;The three side chains parallel institution includes the first branched structure, the second branched structure and the 3rd Chain structure, wherein, the first branched structure is located at the outside of three side chain parallel institutions, including push rod a and the second rod member a, described Push rod a passes through nut and leading screw is connected with body main body, and one end of the second rod member a is connected with push rod a by Hooke's hinge, the The other end of two rod member a passes through ball pivot and corresponding pedipulator connects;The triangle that is connected on the second rod member a is put down Platform;Second branched structure and the 3rd branched structure include push rod b and the second rod member b, wherein, push rod b by nut and Leading screw is connected with body main body;One end of the second rod member b is connected with push rod b by Hooke's hinge, the other end of the second rod member b It is connected with triangle platform by ball pivot;
Each pedipulator includes:Electric machine support, sleeve, motor, belt, belt pulley, leg connector, leg control-rod, The first rod member of leg, the 3rd rod member of the second rod member of leg and leg, wherein, the motor is fixed on electric machine support, and motor leads to Belt drive belt pulley is crossed, belt pulley drives the leading screw of drive system to rotate, and leading screw drives the nut of drive system to do straight line fortune It is dynamic;The triangle platform and leg control-rod of the drive system is connected by ball pivot;The leg connector and electric machine support Secondary connection is rotated by first, the first rod member of the leg rotates pair by second with leg connector and is connected;The first bar of leg Part rotates pair by the 3rd with leg control-rod and is connected;The first rod member of leg rotates secondary connect by the 4th with the second rod member of leg Connect;The leg control rod member rotates pair by the 5th with the 3rd rod member of leg and is connected;The second rod member of the leg and leg the Three rod members rotate secondary connection by the 6th.
2. ten eight degrees of freedom according to claim 1 is with scraper bowl robot, it is characterised in that first branched structure, Three articles of leading screws of the second branched structure and the 3rd branched structure are parallel to each other, and vertically place, and three leading screw central points are in level Projection on face is linked to be isosceles triangle;Meanwhile, three on the first branched structure, the second branched structure and the 3rd branched structure The first rotation axis of Hooke's hinge are parallel to the base of isosceles triangle, the second rotation axis of three Hooke's hinges with first turn Shaft line intersects vertically.
3. ten eight degrees of freedom according to claim 1 is with scraper bowl robot, it is characterised in that three push rods and three second The length of rod member is incomplete same.
4. ten eight degrees of freedom according to claim 1 band scraper bowl robot, it is characterised in that body main body include frame and Scraper bowl, the frame and scraper bowl are fixed together;The frame be irregular rectangular configuration, the pedipulator be six, six Bar pedipulator is divided to two groups to be averagely arranged in frame;Wherein, in three pedipulators of the same side, positioned at the peace of middle pedipulator Holding position outwards offsets a segment distance compared to the installation site of two pedipulators before and after which;Under the cooperation of six pedipulators, Body main body has D translation and Three dimensional rotation six-freedom degree.
5. ten eight degrees of freedom according to claim 1 is with scraper bowl robot, it is characterised in that first rotates auxiliary direction and water Plane is vertical, and second rotates the secondary axis direction secondary to the 6th rotation is parallel to each other, and rotates auxiliary direction and machine with first respectively The sagittal plane of tool lower limb is vertical, and the three side chains parallel institution is a two-freedom plane parallel mechanism, wherein, two-freedom Plane-parallel type structure provides sagittal plane motion for pedipulator;First rotates pair provides side-sway motion for pedipulator.
6. ten eight degrees of freedom according to claim 4 is with scraper bowl robot, it is characterised in that the body main body also includes Protective cover, the protective cover are installed on the outside of drive system, and are connected in frame.
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