CN104552234A - Multi-freedom degree wheeled mobile stacking robot - Google Patents
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Abstract
一种多自由度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，从而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，机构具有结构紧凑，控制简单的优点，可以同时实现移动和操作功能，能作用于更多的场合，具有广阔的市场发展潜力。
A multi-degree-of-freedom wheeled mobile palletizing robot includes multiple parallel mechanism closed-loop actuator sub-chains, a serial actuator main chain 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 combined 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. It has good performance, high reliability, compact structure and simple control. It can realize the functions of movement and operation at the same time. It can be used in more occasions and has broad market development potential.
Description
技术领域technical field
本发明涉及机器人领域，特别是一种多自由度轮式移动码垛机器人。The invention relates to the field of robots, in particular to a multi-degree-of-freedom wheeled mobile palletizing robot.
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。Mobile robot is a comprehensive system integrating environment 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.
传统的串联机器人具有结构简单、成本低、工作空间大等优点，相对而言串联机器人刚度低，不能应用于高速，大承载的场合；并联机器人和传统的串联机器人相比较，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。The traditional series robot has the advantages of simple structure, low cost, and large working space. Relatively speaking, the series robot has low rigidity and cannot be applied to high-speed and large-load occasions; compared with the traditional series robot, the parallel robot has no cumulative error, High precision, compact structure, large bearing capacity, high rigidity and small inertia of the end effector, etc., the driving device can be placed on the fixed platform or close to the fixed platform, so that the moving part is light in weight, high in speed and good in dynamic response; However, 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, and palletizing.
发明内容Contents of the invention
本发明的目的在于提供一种多自由度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 multi-degree-of-freedom wheeled mobile palletizing robot, 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:
一种多自由度轮式移动码垛机器人，包括可移动平台、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、第十七连杆、第十八连杆及末端执行器；A multi-degree-of-freedom wheeled mobile palletizing robot, including a movable platform, a fuselage, a first link, a second link, a third link, a fourth link, a fifth link, a sixth link, and a fifth link. Seventh connecting rod, eighth connecting rod, ninth connecting rod, tenth connecting rod, eleventh connecting rod, twelfth connecting rod, thirteenth connecting rod, fourteenth connecting rod, fifteenth connecting rod, Sixteenth connecting rod, seventeenth connecting rod, eighteenth connecting rod and end effector;
所述第八连杆为“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 eighth connecting rod is in the shape of a "T", with a first connection end, a third connection end, a fourth connection end and a fifth connection end respectively provided on the cross bar part from left to right, and the second connection 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，机身上端通过第八转动副与第八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 eighth connecting rod through the eighth rotating pair;
第一连杆一端通过第二转动副连接在机身上，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九转动副与第八连杆第一连接端连接，One end of the first connecting rod is connected to 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 eighth connecting rod through the ninth rotating pair The first connection end is connected,
第三连杆一端通过第四转动副连接第二连杆上，第四转动副位于第三转动副与第九转动副之间，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七转动副与第八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 ninth rotating pair, and the other end of the third connecting rod is connected to the fourth connecting rod through the fifth rotating pair The lower end is connected, the upper end of the fourth connecting rod is connected with the third connecting end of the eighth connecting rod through the seventh rotating pair,
第五连杆一端通过第六转动副连接第四连杆上，第六转动副位于第七转动副与第五转动副之间，第五连杆另一端通过第十四转动副与第七连杆一端连接，第七连杆另一端通过第十三转动副与第九连杆连接；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 seventh rotating pair and the fifth rotating pair, and the other end of the fifth connecting rod is connected to the seventh connecting rod through the fourteenth rotating pair. One end of the rod is connected, and the other end of the seventh connecting rod is connected with the ninth connecting rod through the thirteenth rotating pair;
第十六连杆一端通过第六转动副连接第四连杆上，第十六连杆另一端通过第十二转动副与第六连杆一端连接，第六连杆另一端通过第十一转动副与第十七连杆连接；One end of the sixteenth connecting rod is connected to the fourth connecting rod through the sixth rotating pair, the other end of the sixteenth connecting rod is connected to one end of the sixth connecting rod through the twelfth rotating pair, and the other end of the sixth connecting rod is connected through the eleventh rotating pair The vice is connected with the seventeenth connecting rod;
第九连杆一端通过第十转动副与第八连杆第四连接端连接，第九连杆另一端通过第十三转动副与第十二连杆一端连接，第十二连杆另一端通过第十六转动副与第十八连杆一端连接，第十八连杆另一端通过第十七转动副与第八连杆第五连接端连接；One end of the ninth connecting rod is connected to the fourth connecting end of the eighth connecting rod through the tenth rotating pair, the other end of the ninth connecting rod is connected to one end of the twelfth connecting rod through the thirteenth rotating pair, and the other end of the twelfth connecting rod is passed through The sixteenth rotating pair is connected to one end of the eighteenth connecting rod, and the other end of the eighteenth connecting rod is connected to the fifth connecting end of the eighth connecting rod through the seventeenth rotating pair;
第十七连杆一端通过第十转动副与第八连杆第四连接端连接，第十七连杆另一端通过第十一转动副与第十一连杆一端连接，第十一连杆另一端通过第十五转动副与第十连杆一端连接，第十连杆另一端通过第十七转动副与第八连杆第五连接端连接；One end of the seventeenth connecting rod is connected to the fourth connecting end of the eighth connecting rod through the tenth rotating pair, the other end of the seventeenth connecting rod is connected to one end of the eleventh connecting rod through the eleventh rotating pair, and the other end of the eleventh connecting rod is One end is connected to one end of the tenth connecting rod through the fifteenth rotating pair, and the other end of the tenth connecting rod is connected to the fifth connecting end of the eighth connecting rod through the seventeenth rotating pair;
第十三连杆一端刚性连接在第十七转动副的转轴侧壁上，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第十五连杆一端连接，第十五连杆另一端通过第二十转动副与末端执行器连接。One end of the thirteenth connecting rod is rigidly connected to the side wall of the rotating shaft of the seventeenth rotating pair, the other end of the thirteenth connecting rod is connected to one end of the fourteenth connecting rod through the eighteenth rotating pair, and the other end of the fourteenth connecting rod is passed through The nineteenth rotating pair is connected with one end of the fifteenth connecting rod, and the other end of the fifteenth connecting rod is connected with the end effector through the twentieth 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、第十六转动副与第十七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 Axis of rotation of the pair, the tenth turning pair, the eleventh turning pair, the twelfth turning pair, the thirteenth turning pair, the fourteenth turning pair, the fifteenth turning pair, the sixteenth turning pair and the seventeenth turning pair parallel to each other.
机身上的第八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 groove between the eighth rotating pair and the second rotating pair on the fuselage, and the third connecting rod passes through the through groove.
第五连杆与第十六连杆分别固定连接在第六转动副的转轴两端；第九连杆与第十七连杆分别固定连接在第十转动副的转轴两端；第十连杆与第十八连杆分别固定连接在第十七转动副的转轴两端。The fifth connecting rod and the sixteenth connecting rod are respectively fixedly connected to both ends of the rotating shaft of the sixth rotating pair; the ninth connecting rod and the seventeenth connecting rod are respectively fixedly connected to both ends of the rotating shaft of the tenth rotating pair; the tenth connecting rod It is respectively fixedly connected with the eighteenth connecting rod at both ends of the rotating shaft of the seventeenth rotating pair.
本发明的突出优点在于：The outstanding advantages of the present invention are:
1、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；1. 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;
2、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；2. 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;
3、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；3. 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;
4、与同类型的机器人机构相比较，相同功率下做的功更多；4. Compared with the same type of robot mechanism, it can do more work under the same power;
5、机器人机构在末端执行器由机构式控制，能使精度更高。5. The robot mechanism is controlled by mechanism at the end effector, which can make the precision higher.
附图说明Description of drawings
图1为本发明所述多自由度轮式移动码垛机器人的结构示意图。Fig. 1 is a structural schematic diagram of the multi-degree-of-freedom wheeled mobile palletizing robot of the present invention.
图2为本发明所述多自由度轮式移动码垛机器人的可移动平台结构示意图。Fig. 2 is a structural schematic diagram of the movable platform of the multi-degree-of-freedom wheeled mobile palletizing robot of the present invention.
图3为本发明所述多自由度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 multi-degree-of-freedom wheeled mobile palletizing robot of the present invention.
图4为本发明所述多自由度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 multi-degree-of-freedom wheeled mobile palletizing robot of the present invention.
图5为本发明所述多自由度轮式移动码垛机器人的第五连杆示意图。Fig. 5 is a schematic diagram of the fifth link of the multi-degree-of-freedom wheeled mobile palletizing robot of the present invention.
图6为本发明所述多自由度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 multi-degree-of-freedom wheeled mobile palletizing robot of the present invention.
图7为本发明所述多自由度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 multi-degree-of-freedom wheeled mobile palletizing robot of the present invention.
图8为本发明所述多自由度轮式移动码垛机器人的第十连杆示意图。Fig. 8 is a schematic diagram of the tenth connecting rod of the multi-degree-of-freedom wheeled mobile palletizing robot of the present invention.
图9为本发明所述多自由度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 multi-degree-of-freedom wheeled mobile palletizing robot of the present invention.
图10为本发明所述多自由度轮式移动码垛机器人的第十五连杆示意图。Fig. 10 is a schematic diagram of the fifteenth connecting rod of the multi-degree-of-freedom wheeled mobile palletizing robot of the present invention.
图11为本发明所述多自由度轮式移动码垛机器人的另一视角示意图。Fig. 11 is a schematic view of another perspective of the multi-degree-of-freedom wheeled mobile palletizing robot of 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.
一种多自由度轮式移动码垛机器人，包括可移动平台1、机身2、第一连杆3、第二连杆5、第三连杆24、第四连杆20、第五连杆22、第六连杆39、第七连杆38、第八连杆18、第九连杆11、第十连杆16、第十一连杆13、第十二连杆14、第十三连杆25、第十四连杆26、第十五连杆28、第十六连杆40、第十七连杆41、第十八连杆42及末端执行器30；A multi-degree-of-freedom wheeled mobile palletizing robot, comprising a movable platform 1, a body 2, a first connecting rod 3, a second connecting rod 5, a third connecting rod 24, a fourth connecting rod 20, and a fifth connecting rod 22. Sixth connecting rod 39, seventh connecting rod 38, eighth connecting rod 18, ninth connecting rod 11, tenth connecting rod 16, eleventh connecting rod 13, twelfth connecting rod 14, thirteenth connecting rod Rod 25, fourteenth connecting rod 26, fifteenth connecting rod 28, sixteenth connecting rod 40, seventeenth connecting rod 41, eighteenth connecting rod 42 and end effector 30;
所述第八连杆18为“T”字型，在横杆部分从左至右分别设有第一连接端181、第三连接端183、第四连接端184和第五连接端185，第二连接端182位于第三连接端183下方；The eighth connecting rod 18 is in the shape of a "T", and a first connecting end 181, a third connecting end 183, a fourth connecting end 184 and a fifth connecting end 185 are respectively provided on the cross bar part from left to right. The second connecting end 182 is located below the third connecting end 183;
机身2下端通过第一转动副31连接在可移动平台1上，机身2上端通过第八转动副8与第八连杆18第二连接端182连接；The lower end of the fuselage 2 is connected to the movable platform 1 through the first rotating pair 31, and the upper end of the fuselage 2 is connected to the second connecting end 182 of the eighth connecting rod 18 through the eighth rotating pair 8;
第一连杆3一端通过第二转动副32连接在机身2上，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上端通过第九转动副9与第八连杆18第一连接端181连接，One end of the first connecting rod 3 is connected to the fuselage 2 through the second rotating pair 32, the other end of the first connecting rod 3 is connected to the lower end of the second connecting rod 5 through the third rotating pair 4, and the upper end of the second connecting rod 5 passes through the ninth The rotary pair 9 is connected to the first connecting end 181 of the eighth connecting rod 18,
第三连杆24一端通过第四转动副6连接第二连杆5上，第四转动副6位于第三转动副4与第九转动副9之间，第三连杆24另一端通过第五转动副23与第四连杆20下端连接，第四连杆20上端通过第七转动副19与第八连杆18第三连接端183连接，One end of the third connecting rod 24 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 ninth rotating pair 9, and the other end of the third connecting rod 24 passes through the fifth The rotating pair 23 is connected to the lower end of the fourth connecting rod 20, and the upper end of the fourth connecting rod 20 is connected to the third connecting end 183 of the eighth connecting rod 18 through the seventh rotating pair 19,
第五连杆22一端通过第六转动副34连接第四连杆20上，第六转动副34位于第七转动副19与第五转动副23之间，第五连杆22另一端通过第十四转动副21与第七连杆38一端连接，第七连杆38另一端通过第十三转动副12与第九连杆11连接；One end of the fifth connecting rod 22 is connected to the fourth connecting rod 20 through the sixth rotating pair 34. The sixth rotating pair 34 is located between the seventh rotating pair 19 and the fifth rotating pair 23. The other end of the fifth connecting rod 22 passes through the tenth rotating pair. The four rotating pairs 21 are connected to one end of the seventh connecting rod 38, and the other end of the seventh connecting rod 38 is connected to the ninth connecting rod 11 through the thirteenth rotating pair 12;
第十六连杆40一端通过第六转动副34连接第四连杆20上，第十六连杆40另一端通过第十二转动副7与第六连杆39一端连接，第六连杆39另一端通过第十一转动副10与第十七连杆41连接；One end of the sixteenth connecting rod 40 is connected to the fourth connecting rod 20 through the sixth rotating pair 34, and the other end of the sixteenth connecting rod 40 is connected to one end of the sixth connecting rod 39 through the twelfth rotating pair 7, and the sixth connecting rod 39 The other end is connected with the seventeenth connecting rod 41 through the eleventh rotating pair 10;
第九连杆11一端通过第十转动副33与第八连杆18第四连接端184连接，第九连杆11另一端通过第十三转动副12与第十二连杆14一端连接，第十二连杆14另一端通过第十六转动副17与第十八连杆42一端连接，第十八连杆42另一端通过第十七转动副35与第八连杆18第五连接端185连接；One end of the ninth connecting rod 11 is connected to the fourth connecting end 184 of the eighth connecting rod 18 through the tenth rotating pair 33, and the other end of the ninth connecting rod 11 is connected to one end of the twelfth connecting rod 14 through the thirteenth rotating pair 12. The other end of the twelfth connecting rod 14 is connected to one end of the eighteenth connecting rod 42 through the sixteenth rotating pair 17, and the other end of the eighteenth connecting rod 42 is connected to the fifth connecting end 185 of the eighth connecting rod 18 through the seventeenth rotating pair 35 connect;
第十七连杆41一端通过第十转动副33与第八连杆18第四连接端184连接，第十七连杆41另一端通过第十一转动副10与第十一连杆13一端连接，第十一连杆13另一端通过第十五转动副15与第十连杆16一端连接，第十连杆16另一端通过第十七转动副35与第八连杆18第五连接端185连接；One end of the seventeenth connecting rod 41 is connected to the fourth connecting end 184 of the eighth connecting rod 18 through the tenth rotating pair 33 , and the other end of the seventeenth connecting rod 41 is connected to one end of the eleventh connecting rod 13 through the eleventh rotating pair 10 , the other end of the eleventh connecting rod 13 is connected to one end of the tenth connecting rod 16 through the fifteenth rotating pair 15, and the other end of the tenth connecting rod 16 is connected to the fifth connecting end 185 of the eighth connecting rod 18 through the seventeenth rotating pair 35 connect;
第十三连杆25一端刚性连接在第十七转动副35的转轴侧壁上，第十三连杆25另一端通过第十八转动副37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与第十五连杆28一端连接，第十五连杆28另一端通过第二十转动副29与末端执行器30连接。One end of the thirteenth connecting rod 25 is rigidly connected to the side wall of the rotating shaft of the seventeenth rotating pair 35, and the other end of the thirteenth connecting rod 25 is connected to one end of the fourteenth connecting rod 26 through the eighteenth rotating pair 37. The other end of the connecting rod 26 is connected to one end of the fifteenth connecting rod 28 through the nineteenth rotating pair 27 , and the other end of the fifteenth connecting rod 28 is connected to the end effector 30 through the twentieth rotating pair 29 .
所述第一转动副31垂直于可移动平台1，第二转动副32、第三转动副4、第四转动副6、第五转动副23、第六转动副34、第七转动副19、第八转动副8、第九转动副9、第十转动副33、第十一转动副10、第十二转动副7、第十三转动副12、第十四转动副21、第十五转动副15、第十六转动副17与第十七转动副35旋转轴线相互平行。The first turning pair 31 is perpendicular to the movable platform 1, the second turning pair 32, the third turning pair 4, the fourth turning pair 6, the fifth turning pair 23, the sixth turning pair 34, the seventh turning pair 19, The eighth turning pair 8, the ninth turning pair 9, the tenth turning pair 33, the eleventh turning pair 10, the twelfth turning pair 7, the thirteenth turning pair 12, the fourteenth turning pair 21, the fifteenth turning pair The axes of rotation of the pair 15, the sixteenth turning pair 17 and the seventeenth turning pair 35 are parallel to each other.
机身2上的第八转动副8与第二转动副32之间有通槽，第三连杆24从通槽中穿过。There is a through slot between the eighth rotating pair 8 and the second rotating pair 32 on the fuselage 2, and the third connecting rod 24 passes through the through slot.
第五连杆22与第十六连杆40分别固定连接在第六转动副34的转轴两端；第九连杆11与第十七连杆41分别固定连接在第十转动副33的转轴两端；第十连杆16与第十八连杆42分别固定连接在第十七转动副35的转轴两端。The fifth connecting rod 22 and the sixteenth connecting rod 40 are fixedly connected to both ends of the rotating shaft of the sixth rotating pair 34 respectively; the ninth connecting rod 11 and the seventeenth connecting rod 41 are respectively fixedly connected to both ends of the rotating shaft of the tenth rotating pair 33 end; the tenth connecting rod 16 and the eighteenth connecting rod 42 are respectively fixedly connected to the two ends of the rotating shaft of the seventeenth rotating pair 35 .
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30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 30 .
工作原理：working principle:
机身2通过第一转动副31驱动，第一转动副31通过电机驱动，第一连杆3通过第二转动副32驱动，第十四连杆26通过第十八转动副37驱动，第十八转动副37通过电机驱动，第十四连杆26通过第十九转动副27驱动，第十九转动副27通过电机驱动，末端执行器30通过第二十转动副29驱动，第二十转动副29通过电机驱动。The fuselage 2 is driven by the first rotating pair 31, the first rotating pair 31 is driven by a motor, the first connecting rod 3 is driven by the second rotating pair 32, the fourteenth connecting rod 26 is driven by the eighteenth rotating pair 37, and the tenth connecting rod 3 is driven by the eighteenth rotating pair 37. The eighth rotating pair 37 is driven by a motor, the fourteenth connecting rod 26 is driven by the nineteenth rotating pair 27, the nineteenth rotating pair 27 is driven by a motor, the end effector 30 is driven by the twentieth rotating pair 29, and the twentieth rotating pair Vice 29 is driven by a motor.
Claims (4)
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