CN210081730U - Three-dimensional translation and one-dimensional rotation independent rotating platform grabbing robot mechanism with synchronous belt transmission structure - Google Patents

Abstract

The three-translation-one-rotation independent-moving platform grabbing robot mechanism with the synchronous belt transmission structure comprises a rack, a first branched chain, a second branched chain, a third branched chain, a fourth branched chain and a moving platform structure. Each branched chain is driven by one servo motor, and the four servo motors are matched to move so as to realize three-dimensional translation and one-dimensional rotation four-degree-of-freedom movement of the tail end platform on the movable platform structure. The utility model discloses simple structure, compactness have that occupation of land space is little, advantages such as action flexibility.

Description

Three-dimensional translation and one-dimensional rotation independent rotating platform grabbing robot mechanism with synchronous belt transmission structure

Technical Field

The utility model relates to an industrial robot field, especially synchronous belt drive structure's three flat one-tenth independent rotating platform snatchs robot mechanism.

Background

Since the 20 th century and the 50 th century, the robot is applied to the industrial field, plays a great role in the industrial field, effectively reduces the production cost of a factory and improves the production efficiency. The industrial application robot has many aspects, such as welding, assembling, stacking, grabbing and the like. The mechanical structures adopted by robots applied to different fields are also different, the welding robot needs five or six shafts to realize the space curve motion of a tail welding gun, and the palletizing robot can complete the palletizing task of objects on a production line only by four shafts. In industrial applications, there is a class of tasks that require the placement of an article from one location to another without requiring the article to undergo a tilting motion during placement. The robots can be divided into four types according to actual requirements: the first is in-plane grabbing, namely, only two translational motions of an article in a plane are needed to be completed; secondly, the article needs to be rotated for an angle on the basis of completing two translation motions; the third is to complete the three-dimensional translational motion of the article; and fourthly, the article needs to be rotated by an angle on the basis of completing the three-translation. In order to reduce the degree of freedom of the robot, the horizontal movement of the end effector of the robot is generally realized by adopting a joint connection mode and adding one or more groups of parallelogram structures, and most of palletizing robots and high-speed grabbing parallel robots in the market adopt the structure. However, such a structure needs to be installed on a joint type robot, so that the robot is bulky in structure and large in occupied space. The utility model discloses a four group's synchronous belt drive and the long parallelogram structure of variable rod can accomplish and move the platform and go up the four degree of freedom motions of terminal platform three translations in the space, have compact structure, take up an area of advantage such as the space is little, high load capacity.

Disclosure of Invention

An object of the utility model is to provide a three levels of synchronous belt drive structure are changeed platform independently and are snatched robot mechanism, can realize moving the three-dimensional translation motion of platform on the space.

The utility model discloses a following technical scheme reaches above-mentioned purpose: the three-dimensional translation and one-dimensional translation independent-translation platform grabbing robot mechanism with the synchronous belt transmission structure comprises a rack (1), a first branched chain (3), a second branched chain (4), a third branched chain (5), a fourth branched chain (6) and a translation platform structure (2).

Move platform structure (2) and comprise first revolving stage (021), second revolving stage (022), third revolving stage (023), fourth revolving stage (024) and terminal platform (025), first revolving stage (021) is connected with terminal platform (025) through ninth revolute pair (25) of zeroth, second revolving stage (022) is connected with terminal platform (025) through first zero revolute pair (26), third revolving stage (023) is connected with terminal platform (025) through first zero revolute pair (27) one-to-one, fourth revolving stage (024) is connected with terminal platform (025) through first two and two revolute pairs (28).

The first branched chain (3) consists of a first support frame (101), a first primary transmission wheel (104), a first secondary transmission wheel (105), a first tertiary transmission wheel (108), a first quaternary transmission wheel (109), a first quinary transmission wheel (110), a first sixth transmission wheel (111), a first synchronous belt (106), a first secondary synchronous belt (107), a first tertiary synchronous belt (112), a first primary oscillating bar (102), a first secondary oscillating bar (103), a first tertiary oscillating bar (113), a first quaternary oscillating bar (114), a first one-to-one connecting member (115), a first secondary connecting member (116), a first one-to-one connecting rod (118), a first push rod (117) and a first servo motor (119), the first primary oscillating bar (102) is connected with the first support frame (101) through a first one-to-one rotating pair (130), and the first oscillating bar (102) is connected with the first primary transmission wheel (104) through a first secondary rotating pair (120), the first swing rod (102) is connected with a first connecting rod (118) through a first three-rotation pair (128), the first swing rod (102) is connected with a first three-swing rod (113) through a first one-to-one moving pair (124), the first second swing rod (103) is connected with a first supporting frame (101) through a first four-rotation pair (131), the first second swing rod (103) is connected with a first second transmission wheel (105) through a first five-rotation pair (121), the first second swing rod (103) is connected with the first one-to-one connecting rod (118) through a first six-rotation pair (129), the first second swing rod (103) is connected with a first four-swing rod (114) through a first two-to-one moving pair (125), the first one-to-transmission wheel (104) is connected with a first three-transmission wheel (108) through a first one-to-time belt (106), the first three-transmission wheel (108) is fixedly connected with a first five-transmission wheel (110), and the first five-transmission wheel (110) is connected with a first six-transmission wheel (111) through, the first six-transmission wheel (111) is fixedly connected with the first four-transmission wheel (109), the first four-transmission wheel (109) is connected with the first two-transmission wheel (105) through a first two-synchronous belt (107), a first three-swing rod (113) is fixedly connected with a first one-synchronous belt (106) through a first one-connecting component (115), the first three-swing rod (113) is connected with a first push rod (117) through a first seven-revolute pair (126), the first four-swing rod (114) is fixedly connected with the first two-synchronous belt (107) through a first two-connecting component (116), the first four-swing rod (114) is connected with the first push rod (117) through a first eight-revolute pair (127), a first servo motor (119) is installed on the first support frame (101) and connected with the first six-transmission wheel (111), the first support frame (101) is connected with the machine frame (1) through a zero-rotation pair (11), and the first push rod (117) is connected with a first turntable (021) through a zero-rotation pair (21).

The rotating axes of the first one-to-one rotating pair (130), the first two-to-one rotating pair (120), the first three-to-one rotating pair (128), the first four-to-one rotating pair (131), the first five-to-one rotating pair (121), the first six-to-one rotating pair (129), the first seven-to-one rotating pair (126) and the first eight-to-one rotating pair (127) are parallel to each other, the axial distance between the first one-to-one rotating pair (130) and the first two-to-two rotating pair (120) is equal to the axial distance between the first four-to-one rotating pair (131) and the first five-to-one rotating pair (121), the axial distance between the first one-to-one rotating pair (130) and the first three-to-one rotating pair (128) is equal to the axial distance between the first two-to-two rotating pair (120) and the first six-to-one rotating pair (129), the axial distance between the first one-to the first two rotating pair (120) and the first six-to-one rotating pair, the axial distance between the first one-rotation pair (130) and the first seven-rotation pair (126) is equal to the axial distance between the first four-rotation pair (131) and the first eight-rotation pair (127).

The second branched chain (4) consists of a second support frame (201), a second transmission wheel (204), a second secondary transmission wheel (205), a second third transmission wheel (208), a second fourth transmission wheel (209), a second fifth transmission wheel (210), a second sixth transmission wheel (211), a second synchronous belt (206), a second synchronous belt (207), a second synchronous belt (212), a second oscillating bar (202), a second oscillating bar (203), a second third oscillating bar (213), a second fourth oscillating bar (214), a second connecting member (215), a second connecting member (216), a second connecting rod (218), a second push rod (217) and a second servo motor (219), the second first oscillating bar (202) is connected with the second support frame (201) through a second revolute pair (230), and the second oscillating bar (202) is connected with the second transmission wheel (204) through a second revolute pair (220), the second swing link (202) is connected with a second connecting rod (218) through a second third rotating pair (228), the second swing link (202) is connected with a second third swing link (213) through a second first moving pair (224), the second swing link (203) is connected with a second support frame (201) through a second fourth rotating pair (231), the second swing link (203) is connected with a second driving wheel (205) through a second fifth rotating pair (221), the second swing link (203) is connected with the second connecting rod (218) through a second sixth rotating pair (229), the second swing link (203) is connected with a second fourth swing link (214) through a second moving pair (225), the second driving wheel (204) is connected with a second third driving wheel (208) through a second synchronous belt (206), the second third driving wheel (208) is fixedly connected with a second fifth driving wheel (210), and the fifth driving wheel (210) is connected with a sixth driving wheel (211) through a second synchronous belt (212), the second sixth driving wheel (211) is fixedly connected with a second fourth driving wheel (209), the second fourth driving wheel (209) is connected with a second driving wheel (205) through a second synchronous belt (207), a second third swing rod (213) is fixedly connected with a second synchronous belt (206) through a second connecting member (215), the second third swing rod (213) is connected with a second pushing rod (217) through a second seventh revolute pair (226), a second fourth swing rod (214) is fixedly connected with the second synchronous belt (207) through a second connecting member (216), the second fourth swing rod (214) is connected with the second pushing rod (217) through a second eighth revolute pair (227), a second servo motor (219) is mounted on a second support frame (201) and connected with the second sixth driving wheel (211), the second support frame (201) is connected with the rack (1) through a zero second revolute pair (12), and the second pushing rod (217) is connected with a second rotary table (022) through a zero sixth revolute pair (22).

The rotation axes of the first rotation pair (230), the second rotation pair (220), the second third rotation pair (228), the second fourth rotation pair (231), the second fifth rotation pair (221), the second sixth rotation pair (229), the second seventh rotation pair (226) and the second eighth rotation pair (227) are parallel to each other, the axial distance between the second rotation pair (230) and the second rotation pair (220) is equal to the axial distance between the second fourth rotation pair (231) and the second fifth rotation pair (221), the axial distance between the second rotation pair (230) and the second third rotation pair (228) is equal to the axial distance between the second rotation pair (220) and the second sixth rotation pair (229), the axial distance between the second rotation pair (230) and the second fourth rotation pair (231), the axial distance between the second rotation pair (220) and the second sixth rotation pair (229), the axial distance between the second rotation pair (228) and the second fifth rotation pair (221) is equal to the axial distance between the second rotation pair (226) and the eighth rotation pair (227), the axial distance between the second first revolute pair (230) and the second seventh revolute pair (226) is equal to the axial distance between the second fourth revolute pair (231) and the second eighth revolute pair (227).

The third branched chain (5) consists of a third support frame (301), a third driving wheel (304), a third secondary driving wheel (305), a third driving wheel (308), a third fourth driving wheel (309), a third fifth driving wheel (310), a third sixth driving wheel (311), a third synchronous belt (306), a third synchronous belt (307), a third synchronous belt (312), a third oscillating bar (302), a third oscillating bar (303), a third oscillating bar (313), a third fourth oscillating bar (314), a third connecting member (315), a third second connecting member (316), a third connecting rod (318), a third push rod (317) and a third servo motor (319), the third oscillating bar (302) is connected with the third support frame (301) through a third revolute pair (330), the third oscillating bar (302) is connected with the third driving wheel (304) through a third revolute pair (320), the third swing rod (302) is connected with a third connecting rod (318) through a third revolute pair (328), the third swing rod (302) is connected with a third swing rod (313) through a third revolute pair (324), the third second swing rod (303) is connected with a third support frame (301) through a third four revolute pair (331), the third second swing rod (303) is connected with a third second transmission wheel (305) through a third fifth revolute pair (321), the third second swing rod (303) is connected with the third connecting rod (318) through a third six revolute pair (329), the third second swing rod (303) is connected with a third fourth swing rod (314) through a third two revolute pair (325), the third transmission wheel (304) is connected with a third transmission wheel (308) through a third synchronous belt (306), the third transmission wheel (308) is fixedly connected with the third fifth transmission wheel (310), and the third transmission wheel (310) is connected with the sixth transmission wheel (311) through a third synchronous belt (312), the third sixth driving wheel (311) is fixedly connected with a third fourth driving wheel (309), the third fourth driving wheel (309) is connected with a third second driving wheel (305) through a third synchronous belt (307), a third swing rod (313) is fixedly connected with a third synchronous belt (306) through a third connecting component (315), the third swing rod (313) is connected with a third push rod (317) through a third pseudo-ginseng revolute pair (326), the third fourth swing rod (314) is fixedly connected with the third synchronous belt (307) through a third second connecting component (316), the third swing rod (314) is connected with the third push rod (317) through a third eighth revolute pair (327), a third servo motor (319) is installed on the third support frame (301) and connected with the third sixth driving wheel (311), the third support frame (301) is connected with the rack (1) through a zeroth revolute pair (13), and the third push rod (317) is connected with a third turntable (23) through a zeroth revolute pair (023).

The rotating axes of the third first rotating pair (330), the third second rotating pair (320), the third rotating pair (328), the third fourth rotating pair (331), the third fifth rotating pair (321), the third sixth rotating pair (329), the third pseudo-ginseng rotating pair (326) and the third eighth rotating pair (327) are parallel to each other, the axial distance between the third first rotating pair (330) and the third second rotating pair (320) is equal to the axial distance between the third fourth rotating pair (331) and the third fifth rotating pair (321), the axial distance between the third first rotating pair (330) and the third rotating pair (328) is equal to the axial distance between the third second rotating pair (320) and the third sixth rotating pair (329), the axial distance between the third rotating pair (330) and the third fourth rotating pair (331), the axial distance between the third rotating pair (320) and the third sixth rotating pair (329), and the axial distance between the third rotating pair (328) and the third rotating pair (326) are equal to the axial distance between the third rotating pair (328) and the eighth rotating pair (327), the axial distance between the third revolute pair (330) and the third revolute pair (326) is equal to the axial distance between the third revolute pair (331) and the third eight revolute pair (327).

The fourth branched chain (6) consists of a fourth supporting frame (401), a fourth driving wheel (404), a fourth second driving wheel (405), a fourth third driving wheel (408), a fourth driving wheel (409), a fourth fifth driving wheel (410), a fourth sixth driving wheel (411), a fourth synchronous belt (406), a fourth synchronous belt (407), a fourth synchronous belt (412), a fourth first oscillating bar (402), a fourth second oscillating bar (403), a fourth third oscillating bar (413), a fourth oscillating bar (414), a fourth connecting member (415), a fourth second connecting member (416), a fourth connecting rod (418), a fourth push rod (417) and a fourth servo motor (419), the fourth oscillating bar (402) is connected with the fourth supporting frame (401) through a fourth revolute pair (430), and the fourth oscillating bar (402) is connected with the fourth driving wheel (404) through a fourth revolute pair (420), the fourth swing rod (402) is connected with a fourth connecting rod (418) through a fourth third rotating pair (428), the fourth swing rod (402) is connected with a fourth third swing rod (413) through a fourth first moving pair (424), the fourth second swing rod (403) is connected with a fourth supporting frame (401) through a fourth rotating pair (431), the fourth second swing rod (403) is connected with a fourth driving wheel (405) through a fourth fifth rotating pair (421), the fourth second swing rod (403) is connected with the fourth connecting rod (418) through a fourth sixth rotating pair (429), the fourth second swing rod (403) is connected with a fourth swing rod (414) through a fourth second moving pair (425), the fourth driving wheel (404) is connected with a fourth third driving wheel (408) through a fourth synchronous belt (406), the fourth driving wheel (408) is fixedly connected with the fourth fifth driving wheel (410), and the fourth driving wheel (410) is connected with a sixth driving wheel (411) through a fourth synchronous belt (412), the fourth sixth transmission wheel (411) is fixedly connected with the fourth transmission wheel (409), the fourth transmission wheel (409) is connected with the fourth second transmission wheel (405) through a fourth synchronous belt (407), a fourth swing rod (413) is fixedly connected with a fourth synchronous belt (406) through a fourth connecting component (415), the fourth swing rod (413) is connected with a fourth push rod (417) through a fourth seventh rotating pair (426), a fourth swing rod (414) is fixedly connected with the fourth synchronous belt (407) through a fourth second connecting component (416), the fourth swing rod (414) is connected with the fourth push rod (417) through a fourth eighth rotating pair (427), a fourth servo motor (419) is installed on the fourth support frame (401) and connected with the fourth sixth transmission wheel (411), the fourth support frame (401) is connected with the rack (1) through a zeroth fourth rotating pair (14), and the fourth push rod (417) is connected with a fourth rotating pair (024) through a zeroth eighth rotating pair (24).

The rotation axes of the fourth first rotation pair (430), the fourth second rotation pair (420), the fourth third rotation pair (428), the fourth rotation pair (431), the fourth fifth rotation pair (421), the fourth sixth rotation pair (429), the fourth seventh rotation pair (426) and the fourth eighth rotation pair (427) are parallel to each other, the distance between the axes of the fourth rotation pair (430) and the fourth second rotation pair (420) is equal to the distance between the axes of the fourth rotation pair (431) and the fourth fifth rotation pair (421), the distance between the axes of the fourth rotation pair (430) and the fourth third rotation pair (428) is equal to the distance between the axes of the fourth rotation pair (420) and the fourth sixth rotation pair (429), the distance between the axes of the fourth rotation pair (430) and the fourth rotation pair (431), the distance between the axes of the fourth rotation pair (420) and the fourth rotation pair (429), the distance between the axes of the fourth rotation pair (428) and the fourth rotation pair (421) is equal to the distance between the axes of the fourth rotation pair (426) and the eighth rotation pair (426), the axial distance between the fourth first revolute pair (430) and the fourth seventh revolute pair (426) is equal to the axial distance between the fourth revolute pair (431) and the fourth eight revolute pair (427).

The first servo motor (119) is arranged on the first support frame (101) and drives the first six-transmission wheel (111) to move, the first six-transmission wheel (111) is fixedly connected with the first four-transmission wheel (109) to drive the first four-transmission wheel (109) to move, the first six-transmission wheel (111) drives the first five-transmission wheel (110) to move through a first three-synchronous belt (112), the first five-transmission wheel (110) is fixedly connected with the first three-transmission wheel (108) to drive the first three-transmission wheel (108) to move, the first three-transmission wheel (108) drives the first one-transmission wheel (104) to move through a first one-to-one synchronous belt (106), the first four-transmission wheel (109) drives the first two-transmission wheel (105) to move through a first two-synchronous belt (107), the first one-synchronous belt (106) drives the first three-oscillating bars (113) to move through a first one-to-one connecting component (115), and the first two-synchronous belt (107) drives the first four oscillating bars (, the first third swing link (113) and the first fourth swing link (114) move synchronously to drive the first push rod (117) to realize translational motion along the motion direction of the first one-to-one moving pair (124).

The second servo motor (219) is arranged on the second support frame (201) and drives the second sixth driving wheel (211) to move, the second sixth driving wheel (211) is fixedly connected with the second fourth driving wheel (209) to drive the second fourth driving wheel (209) to move, the second sixth driving wheel (211) drives the second fifth driving wheel (210) to move through a second third synchronous belt (212), the second fifth driving wheel (210) is fixedly connected with the second third driving wheel (208) to drive the second third driving wheel (208) to move, the second third driving wheel (208) drives the second driving wheel (204) to move through a second synchronous belt (206), the second fourth driving wheel (209) drives the second driving wheel (205) to move through the second synchronous belt (207), the second synchronous belt (206) drives the second third swing rod (213) to move through a second connecting member (215), and the second synchronous belt (207) drives the second fourth swing rod (214) to move through a second connecting member (216), the second third swing link (213) and the second fourth swing link (214) move synchronously to drive the second push rod (217) to realize translational motion along the motion direction of the second sliding pair (224).

The third servo motor (319) is arranged on the third support frame (301) and drives the third sixth driving wheel (311) to move, the third sixth driving wheel (311) is fixedly connected with the third fourth driving wheel (309) to drive the third fourth driving wheel (309) to move, the third sixth driving wheel (311) drives the third fifth driving wheel (310) to move through a third synchronous belt (312), the third fifth driving wheel (310) is fixedly connected with the third driving wheel (308) to drive the third driving wheel (308) to move, the third driving wheel (308) drives the third driving wheel (304) to move through a third synchronous belt (306), the third fourth driving wheel (309) drives the third second driving wheel (305) to move through a third synchronous belt (307), the third synchronous belt (306) drives the third swing rod (313) to move through a third connecting member (315), and the third synchronous belt (307) drives the third swing rod (314) to move through a third connecting member (316), the third swing rod (313) and the third fourth swing rod (314) move synchronously to drive the third push rod (317) to realize translational motion along the motion direction of the third sliding pair (324).

The fourth servo motor (419) is arranged on a fourth support frame (401) and drives a fourth sixth transmission wheel (411) to move, the fourth sixth transmission wheel (411) is fixedly connected with a fourth transmission wheel (409) to drive the fourth transmission wheel (409) to move, the fourth sixth transmission wheel (411) drives a fourth fifth transmission wheel (410) to move through a fourth third synchronous belt (412), the fourth fifth transmission wheel (410) is fixedly connected with the fourth third transmission wheel (408) to drive the fourth transmission wheel (408) to move, the fourth transmission wheel (408) drives a fourth transmission wheel (404) to move through a fourth synchronous belt (406), the fourth transmission wheel (409) drives a fourth second transmission wheel (405) to move through a fourth synchronous belt (407), the fourth synchronous belt (406) drives a fourth third swing rod (413) to move through a fourth connecting member (415), and the fourth synchronous belt (407) drives a fourth swing rod (414) to move through a fourth connecting member (416), the fourth third swing rod (413) and the fourth swing rod (414) synchronously move to drive the fourth push rod (417) to realize translational motion along the motion direction of the fourth sliding pair (424).

The first push rod (117), the second push rod (217), the third push rod (317) and the fourth push rod (417) drive the terminal platform (025) to complete spatial three-dimensional one-dimensional rotation movement.

The utility model has the advantages that:

1. the whole structure of the mechanism is compact, and the occupied space is small;

2. the mechanical arm has small inertia and good kinematics and dynamics performance.

Drawings

Fig. 1 is a schematic view of a first structure of a three-dimensional translation and rotation independent rotation platform grabbing robot mechanism of a synchronous belt transmission structure.

Fig. 2 is a frame schematic diagram of the three-dimensional translation and one-dimensional rotation independent rotating platform grabbing robot mechanism of the synchronous belt transmission structure.

Fig. 3 is a schematic view of the moving platform of the robot mechanism for grabbing by the three-dimensional translation and one-dimensional rotation independent moving platform of the synchronous belt transmission structure.

Fig. 4 is a first schematic diagram of a first branch chain of the three-dimensional translation and rotation independent rotation platform grabbing robot mechanism of the synchronous belt transmission structure.

Fig. 5 is a first schematic diagram of a second branched chain of the three-dimensional translation and rotation independent rotation platform grabbing robot mechanism of the synchronous belt transmission structure.

Fig. 6 is a first schematic diagram of a third branched chain of the three-dimensional translational and rotational independent rotary platform grabbing robot mechanism of the synchronous belt transmission structure.

Fig. 7 is a first schematic diagram of a fourth branched chain of the three-dimensional translation and rotation independent rotation platform grabbing robot mechanism of the synchronous belt transmission structure.

Fig. 8 is a second schematic view of the first branched chain of the three-dimensional translation and rotation independent rotation platform grabbing robot mechanism of the synchronous belt transmission structure.

Fig. 9 is a second schematic view of a second branched chain of the three-dimensional translation and rotation independent rotation platform grabbing robot mechanism of the synchronous belt transmission structure.

Fig. 10 is a second schematic view of a third branched chain of the three-dimensional translational and rotational independent rotation platform grabbing robot mechanism of the synchronous belt transmission structure.

Fig. 11 is a second schematic diagram of a fourth branched chain of the three-dimensional translation and rotation independent rotation platform grabbing robot mechanism of the synchronous belt transmission structure.

Fig. 12 is a first schematic view of the first supporting frame of the three-dimensional translation and rotation independent rotation platform grabbing robot mechanism of the synchronous belt transmission structure according to the present invention.

Fig. 13 is a first schematic diagram of the second supporting frame being hidden by the second branched chain of the three-dimensional translation and rotation independent rotating platform grabbing robot mechanism of the synchronous belt transmission structure.

Fig. 14 is a first schematic diagram of the third supporting frame being hidden by the third branched chain of the three-dimensional translational and rotational independent rotary platform grabbing robot mechanism of the synchronous belt transmission structure.

Fig. 15 is a first schematic diagram of the fourth supporting frame is hidden by the fourth branched chain of the three-dimensional translation and rotation independent rotating platform grabbing robot mechanism of the synchronous belt transmission structure.

Fig. 16 is a second schematic view of the synchronous belt transmission structure, in which the first support frame is hidden in the first support chain of the three-dimensional translation and rotation independent rotation platform grabbing robot mechanism.

Fig. 17 is a second schematic diagram of the second supporting frame is hidden by the second branched chain of the three-dimensional translation and rotation independent rotating platform grabbing robot mechanism of the synchronous belt transmission structure.

Fig. 18 is a second schematic diagram of the third supporting frame is hidden by the third branched chain of the three-horizontal-one-rotation independent rotating platform grabbing robot mechanism of the synchronous belt transmission structure.

Fig. 19 is a second schematic diagram of the fourth supporting frame is hidden by the fourth branched chain of the three-dimensional translation and one-dimensional rotation independent rotating platform grabbing robot mechanism of the synchronous belt transmission structure.

Fig. 20 is a schematic diagram of a first motion state of the three-dimensional translation and one-dimensional rotation independent rotation platform grabbing robot mechanism of the synchronous belt transmission structure.

Fig. 21 is a schematic diagram of a second motion state of the three-dimensional translation and one-dimensional rotation independent rotation platform grabbing robot mechanism of the synchronous belt transmission structure.

Fig. 22 is a third motion state diagram of the three-dimensional translation and rotation independent rotation platform grabbing robot mechanism of the synchronous belt transmission structure.

Fig. 23 is a fourth motion state diagram of the three-dimensional translation and one-dimensional rotation independent rotation platform grabbing robot mechanism of the synchronous belt transmission structure.

Fig. 24 is a schematic diagram of a fifth motion state of the three-dimensional translation and one-dimensional rotation independent rotation platform grabbing robot mechanism of the synchronous belt transmission structure.

Detailed Description

The technical solution of the present invention will be further explained with reference to the accompanying drawings and embodiments.

Referring to fig. 1, 2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 13, 14, 15, 16, 17, 18 and 19, the three-translation and one-rotation independent moving platform grabbing robot mechanism of the synchronous belt transmission structure comprises a frame (1), a first branched chain (3), a second branched chain (4), a third branched chain (5), a fourth branched chain (6) and a moving platform structure (2).

Move platform structure (2) and comprise first revolving stage (021), second revolving stage (022), third revolving stage (023), fourth revolving stage (024) and terminal platform (025), first revolving stage (021) is connected with terminal platform (025) through ninth revolute pair (25) of zeroth, second revolving stage (022) is connected with terminal platform (025) through first zero revolute pair (26), third revolving stage (023) is connected with terminal platform (025) through first zero revolute pair (27) one-to-one, fourth revolving stage (024) is connected with terminal platform (025) through first two and two revolute pairs (28).

The first branched chain (3) consists of a first support frame (101), a first primary transmission wheel (104), a first secondary transmission wheel (105), a first tertiary transmission wheel (108), a first quaternary transmission wheel (109), a first quinary transmission wheel (110), a first sixth transmission wheel (111), a first synchronous belt (106), a first secondary synchronous belt (107), a first tertiary synchronous belt (112), a first primary oscillating bar (102), a first secondary oscillating bar (103), a first tertiary oscillating bar (113), a first quaternary oscillating bar (114), a first one-to-one connecting member (115), a first secondary connecting member (116), a first one-to-one connecting rod (118), a first push rod (117) and a first servo motor (119), the first primary oscillating bar (102) is connected with the first support frame (101) through a first one-to-one rotating pair (130), and the first oscillating bar (102) is connected with the first primary transmission wheel (104) through a first secondary rotating pair (120), the first swing rod (102) is connected with a first connecting rod (118) through a first three-rotation pair (128), the first swing rod (102) is connected with a first three-swing rod (113) through a first one-to-one moving pair (124), the first second swing rod (103) is connected with a first supporting frame (101) through a first four-rotation pair (131), the first second swing rod (103) is connected with a first second transmission wheel (105) through a first five-rotation pair (121), the first second swing rod (103) is connected with the first one-to-one connecting rod (118) through a first six-rotation pair (129), the first second swing rod (103) is connected with a first four-swing rod (114) through a first two-to-one moving pair (125), the first one-to-transmission wheel (104) is connected with a first three-transmission wheel (108) through a first one-to-time belt (106), the first three-transmission wheel (108) is fixedly connected with a first five-transmission wheel (110), and the first five-transmission wheel (110) is connected with a first six-transmission wheel (111) through, the first six-transmission wheel (111) is fixedly connected with the first four-transmission wheel (109), the first four-transmission wheel (109) is connected with the first two-transmission wheel (105) through a first two-synchronous belt (107), a first three-swing rod (113) is fixedly connected with a first one-synchronous belt (106) through a first one-connecting component (115), the first three-swing rod (113) is connected with a first push rod (117) through a first seven-revolute pair (126), the first four-swing rod (114) is fixedly connected with the first two-synchronous belt (107) through a first two-connecting component (116), the first four-swing rod (114) is connected with the first push rod (117) through a first eight-revolute pair (127), a first servo motor (119) is installed on the first support frame (101) and connected with the first six-transmission wheel (111), the first support frame (101) is connected with the machine frame (1) through a zero-rotation pair (11), and the first push rod (117) is connected with a first turntable (021) through a zero-rotation pair (21).

The rotating axes of the first one-to-one rotating pair (130), the first two-to-one rotating pair (120), the first three-to-one rotating pair (128), the first four-to-one rotating pair (131), the first five-to-one rotating pair (121), the first six-to-one rotating pair (129), the first seven-to-one rotating pair (126) and the first eight-to-one rotating pair (127) are parallel to each other, the axial distance between the first one-to-one rotating pair (130) and the first two-to-two rotating pair (120) is equal to the axial distance between the first four-to-one rotating pair (131) and the first five-to-one rotating pair (121), the axial distance between the first one-to-one rotating pair (130) and the first three-to-one rotating pair (128) is equal to the axial distance between the first two-to-two rotating pair (120) and the first six-to-one rotating pair (129), the axial distance between the first one-to the first two rotating pair (120) and the first six-to-one rotating pair, the axial distance between the first one-rotation pair (130) and the first seven-rotation pair (126) is equal to the axial distance between the first four-rotation pair (131) and the first eight-rotation pair (127).

The second branched chain (4) consists of a second support frame (201), a second transmission wheel (204), a second secondary transmission wheel (205), a second third transmission wheel (208), a second fourth transmission wheel (209), a second fifth transmission wheel (210), a second sixth transmission wheel (211), a second synchronous belt (206), a second synchronous belt (207), a second synchronous belt (212), a second oscillating bar (202), a second oscillating bar (203), a second third oscillating bar (213), a second fourth oscillating bar (214), a second connecting member (215), a second connecting member (216), a second connecting rod (218), a second push rod (217) and a second servo motor (219), the second first oscillating bar (202) is connected with the second support frame (201) through a second revolute pair (230), and the second oscillating bar (202) is connected with the second transmission wheel (204) through a second revolute pair (220), the second swing link (202) is connected with a second connecting rod (218) through a second third rotating pair (228), the second swing link (202) is connected with a second third swing link (213) through a second first moving pair (224), the second swing link (203) is connected with a second support frame (201) through a second fourth rotating pair (231), the second swing link (203) is connected with a second driving wheel (205) through a second fifth rotating pair (221), the second swing link (203) is connected with the second connecting rod (218) through a second sixth rotating pair (229), the second swing link (203) is connected with a second fourth swing link (214) through a second moving pair (225), the second driving wheel (204) is connected with a second third driving wheel (208) through a second synchronous belt (206), the second third driving wheel (208) is fixedly connected with a second fifth driving wheel (210), and the fifth driving wheel (210) is connected with a sixth driving wheel (211) through a second synchronous belt (212), the second sixth driving wheel (211) is fixedly connected with a second fourth driving wheel (209), the second fourth driving wheel (209) is connected with a second driving wheel (205) through a second synchronous belt (207), a second third swing rod (213) is fixedly connected with a second synchronous belt (206) through a second connecting member (215), the second third swing rod (213) is connected with a second pushing rod (217) through a second seventh revolute pair (226), a second fourth swing rod (214) is fixedly connected with the second synchronous belt (207) through a second connecting member (216), the second fourth swing rod (214) is connected with the second pushing rod (217) through a second eighth revolute pair (227), a second servo motor (219) is mounted on a second support frame (201) and connected with the second sixth driving wheel (211), the second support frame (201) is connected with the rack (1) through a zero second revolute pair (12), and the second pushing rod (217) is connected with a second rotary table (022) through a zero sixth revolute pair (22).

The rotation axes of the first rotation pair (230), the second rotation pair (220), the second third rotation pair (228), the second fourth rotation pair (231), the second fifth rotation pair (221), the second sixth rotation pair (229), the second seventh rotation pair (226) and the second eighth rotation pair (227) are parallel to each other, the axial distance between the second rotation pair (230) and the second rotation pair (220) is equal to the axial distance between the second fourth rotation pair (231) and the second fifth rotation pair (221), the axial distance between the second rotation pair (230) and the second third rotation pair (228) is equal to the axial distance between the second rotation pair (220) and the second sixth rotation pair (229), the axial distance between the second rotation pair (230) and the second fourth rotation pair (231), the axial distance between the second rotation pair (220) and the second sixth rotation pair (229), the axial distance between the second rotation pair (228) and the second fifth rotation pair (221) is equal to the axial distance between the second rotation pair (226) and the eighth rotation pair (227), the axial distance between the second first revolute pair (230) and the second seventh revolute pair (226) is equal to the axial distance between the second fourth revolute pair (231) and the second eighth revolute pair (227).

The third branched chain (5) consists of a third support frame (301), a third driving wheel (304), a third secondary driving wheel (305), a third driving wheel (308), a third fourth driving wheel (309), a third fifth driving wheel (310), a third sixth driving wheel (311), a third synchronous belt (306), a third synchronous belt (307), a third synchronous belt (312), a third oscillating bar (302), a third oscillating bar (303), a third oscillating bar (313), a third fourth oscillating bar (314), a third connecting member (315), a third second connecting member (316), a third connecting rod (318), a third push rod (317) and a third servo motor (319), the third oscillating bar (302) is connected with the third support frame (301) through a third revolute pair (330), the third oscillating bar (302) is connected with the third driving wheel (304) through a third revolute pair (320), the third swing rod (302) is connected with a third connecting rod (318) through a third revolute pair (328), the third swing rod (302) is connected with a third swing rod (313) through a third revolute pair (324), the third second swing rod (303) is connected with a third support frame (301) through a third four revolute pair (331), the third second swing rod (303) is connected with a third second transmission wheel (305) through a third fifth revolute pair (321), the third second swing rod (303) is connected with the third connecting rod (318) through a third six revolute pair (329), the third second swing rod (303) is connected with a third fourth swing rod (314) through a third two revolute pair (325), the third transmission wheel (304) is connected with a third transmission wheel (308) through a third synchronous belt (306), the third transmission wheel (308) is fixedly connected with the third fifth transmission wheel (310), and the third transmission wheel (310) is connected with the sixth transmission wheel (311) through a third synchronous belt (312), the third sixth driving wheel (311) is fixedly connected with a third fourth driving wheel (309), the third fourth driving wheel (309) is connected with a third second driving wheel (305) through a third synchronous belt (307), a third swing rod (313) is fixedly connected with a third synchronous belt (306) through a third connecting component (315), the third swing rod (313) is connected with a third push rod (317) through a third pseudo-ginseng revolute pair (326), the third fourth swing rod (314) is fixedly connected with the third synchronous belt (307) through a third second connecting component (316), the third swing rod (314) is connected with the third push rod (317) through a third eighth revolute pair (327), a third servo motor (319) is installed on the third support frame (301) and connected with the third sixth driving wheel (311), the third support frame (301) is connected with the rack (1) through a zeroth revolute pair (13), and the third push rod (317) is connected with a third turntable (23) through a zeroth revolute pair (023).

The rotating axes of the third first rotating pair (330), the third second rotating pair (320), the third rotating pair (328), the third fourth rotating pair (331), the third fifth rotating pair (321), the third sixth rotating pair (329), the third pseudo-ginseng rotating pair (326) and the third eighth rotating pair (327) are parallel to each other, the axial distance between the third first rotating pair (330) and the third second rotating pair (320) is equal to the axial distance between the third fourth rotating pair (331) and the third fifth rotating pair (321), the axial distance between the third first rotating pair (330) and the third rotating pair (328) is equal to the axial distance between the third second rotating pair (320) and the third sixth rotating pair (329), the axial distance between the third rotating pair (330) and the third fourth rotating pair (331), the axial distance between the third rotating pair (320) and the third sixth rotating pair (329), and the axial distance between the third rotating pair (328) and the third rotating pair (326) are equal to the axial distance between the third rotating pair (328) and the eighth rotating pair (327), the axial distance between the third revolute pair (330) and the third revolute pair (326) is equal to the axial distance between the third revolute pair (331) and the third eight revolute pair (327).

The fourth branched chain (6) consists of a fourth supporting frame (401), a fourth driving wheel (404), a fourth second driving wheel (405), a fourth third driving wheel (408), a fourth driving wheel (409), a fourth fifth driving wheel (410), a fourth sixth driving wheel (411), a fourth synchronous belt (406), a fourth synchronous belt (407), a fourth synchronous belt (412), a fourth first oscillating bar (402), a fourth second oscillating bar (403), a fourth third oscillating bar (413), a fourth oscillating bar (414), a fourth connecting member (415), a fourth second connecting member (416), a fourth connecting rod (418), a fourth push rod (417) and a fourth servo motor (419), the fourth oscillating bar (402) is connected with the fourth supporting frame (401) through a fourth revolute pair (430), and the fourth oscillating bar (402) is connected with the fourth driving wheel (404) through a fourth revolute pair (420), the fourth swing rod (402) is connected with a fourth connecting rod (418) through a fourth third rotating pair (428), the fourth swing rod (402) is connected with a fourth third swing rod (413) through a fourth first moving pair (424), the fourth second swing rod (403) is connected with a fourth supporting frame (401) through a fourth rotating pair (431), the fourth second swing rod (403) is connected with a fourth driving wheel (405) through a fourth fifth rotating pair (421), the fourth second swing rod (403) is connected with the fourth connecting rod (418) through a fourth sixth rotating pair (429), the fourth second swing rod (403) is connected with a fourth swing rod (414) through a fourth second moving pair (425), the fourth driving wheel (404) is connected with a fourth third driving wheel (408) through a fourth synchronous belt (406), the fourth driving wheel (408) is fixedly connected with the fourth fifth driving wheel (410), and the fourth driving wheel (410) is connected with a sixth driving wheel (411) through a fourth synchronous belt (412), the fourth sixth transmission wheel (411) is fixedly connected with the fourth transmission wheel (409), the fourth transmission wheel (409) is connected with the fourth second transmission wheel (405) through a fourth synchronous belt (407), a fourth swing rod (413) is fixedly connected with a fourth synchronous belt (406) through a fourth connecting component (415), the fourth swing rod (413) is connected with a fourth push rod (417) through a fourth seventh rotating pair (426), a fourth swing rod (414) is fixedly connected with the fourth synchronous belt (407) through a fourth second connecting component (416), the fourth swing rod (414) is connected with the fourth push rod (417) through a fourth eighth rotating pair (427), a fourth servo motor (419) is installed on the fourth support frame (401) and connected with the fourth sixth transmission wheel (411), the fourth support frame (401) is connected with the rack (1) through a zeroth fourth rotating pair (14), and the fourth push rod (417) is connected with a fourth rotating pair (024) through a zeroth eighth rotating pair (24).

The rotation axes of the fourth first rotation pair (430), the fourth second rotation pair (420), the fourth third rotation pair (428), the fourth rotation pair (431), the fourth fifth rotation pair (421), the fourth sixth rotation pair (429), the fourth seventh rotation pair (426) and the fourth eighth rotation pair (427) are parallel to each other, the distance between the axes of the fourth rotation pair (430) and the fourth second rotation pair (420) is equal to the distance between the axes of the fourth rotation pair (431) and the fourth fifth rotation pair (421), the distance between the axes of the fourth rotation pair (430) and the fourth third rotation pair (428) is equal to the distance between the axes of the fourth rotation pair (420) and the fourth sixth rotation pair (429), the distance between the axes of the fourth rotation pair (430) and the fourth rotation pair (431), the distance between the axes of the fourth rotation pair (420) and the fourth rotation pair (429), the distance between the axes of the fourth rotation pair (428) and the fourth rotation pair (421) is equal to the distance between the axes of the fourth rotation pair (426) and the eighth rotation pair (426), the axial distance between the fourth first revolute pair (430) and the fourth seventh revolute pair (426) is equal to the axial distance between the fourth revolute pair (431) and the fourth eight revolute pair (427).

The first servo motor (119) is arranged on the first support frame (101) and drives the first six-transmission wheel (111) to move, the first six-transmission wheel (111) is fixedly connected with the first four-transmission wheel (109) to drive the first four-transmission wheel (109) to move, the first six-transmission wheel (111) drives the first five-transmission wheel (110) to move through a first three-synchronous belt (112), the first five-transmission wheel (110) is fixedly connected with the first three-transmission wheel (108) to drive the first three-transmission wheel (108) to move, the first three-transmission wheel (108) drives the first one-transmission wheel (104) to move through a first one-to-one synchronous belt (106), the first four-transmission wheel (109) drives the first two-transmission wheel (105) to move through a first two-synchronous belt (107), the first one-synchronous belt (106) drives the first three-oscillating bars (113) to move through a first one-to-one connecting component (115), and the first two-synchronous belt (107) drives the first four oscillating bars (, the first third swing link (113) and the first fourth swing link (114) move synchronously to drive the first push rod (117) to realize translational motion along the motion direction of the first one-to-one moving pair (124).

The second servo motor (219) is arranged on the second support frame (201) and drives the second sixth driving wheel (211) to move, the second sixth driving wheel (211) is fixedly connected with the second fourth driving wheel (209) to drive the second fourth driving wheel (209) to move, the second sixth driving wheel (211) drives the second fifth driving wheel (210) to move through a second third synchronous belt (212), the second fifth driving wheel (210) is fixedly connected with the second third driving wheel (208) to drive the second third driving wheel (208) to move, the second third driving wheel (208) drives the second driving wheel (204) to move through a second synchronous belt (206), the second fourth driving wheel (209) drives the second driving wheel (205) to move through the second synchronous belt (207), the second synchronous belt (206) drives the second third swing rod (213) to move through a second connecting member (215), and the second synchronous belt (207) drives the second fourth swing rod (214) to move through a second connecting member (216), the second third swing link (213) and the second fourth swing link (214) move synchronously to drive the second push rod (217) to realize translational motion along the motion direction of the second sliding pair (224).

The third servo motor (319) is arranged on the third support frame (301) and drives the third sixth driving wheel (311) to move, the third sixth driving wheel (311) is fixedly connected with the third fourth driving wheel (309) to drive the third fourth driving wheel (309) to move, the third sixth driving wheel (311) drives the third fifth driving wheel (310) to move through a third synchronous belt (312), the third fifth driving wheel (310) is fixedly connected with the third driving wheel (308) to drive the third driving wheel (308) to move, the third driving wheel (308) drives the third driving wheel (304) to move through a third synchronous belt (306), the third fourth driving wheel (309) drives the third second driving wheel (305) to move through a third synchronous belt (307), the third synchronous belt (306) drives the third swing rod (313) to move through a third connecting member (315), and the third synchronous belt (307) drives the third swing rod (314) to move through a third connecting member (316), the third swing rod (313) and the third fourth swing rod (314) move synchronously to drive the third push rod (317) to realize translational motion along the motion direction of the third sliding pair (324).

The fourth servo motor (419) is arranged on a fourth support frame (401) and drives a fourth sixth transmission wheel (411) to move, the fourth sixth transmission wheel (411) is fixedly connected with a fourth transmission wheel (409) to drive the fourth transmission wheel (409) to move, the fourth sixth transmission wheel (411) drives a fourth fifth transmission wheel (410) to move through a fourth third synchronous belt (412), the fourth fifth transmission wheel (410) is fixedly connected with the fourth third transmission wheel (408) to drive the fourth transmission wheel (408) to move, the fourth transmission wheel (408) drives a fourth transmission wheel (404) to move through a fourth synchronous belt (406), the fourth transmission wheel (409) drives a fourth second transmission wheel (405) to move through a fourth synchronous belt (407), the fourth synchronous belt (406) drives a fourth third swing rod (413) to move through a fourth connecting member (415), and the fourth synchronous belt (407) drives a fourth swing rod (414) to move through a fourth connecting member (416), the fourth third swing rod (413) and the fourth swing rod (414) synchronously move to drive the fourth push rod (417) to realize translational motion along the motion direction of the fourth sliding pair (424).

The first push rod (117), the second push rod (217), the third push rod (317) and the fourth push rod (417) drive the terminal platform (025) to complete spatial three-dimensional one-dimensional rotation movement.

Fig. 20, 21, 22, 23 and 24 are state diagrams illustrating different actions of the three-dimensional translation and rotation independent rotation platform grabbing robot mechanism with the synchronous belt transmission structure.

Claims (1)

1. Synchronous belt drive structure's three platform that independently move are grabbed robot mechanism, include frame (1), first branch chain (3), second branch chain (4), third branch chain (5), fourth branch chain (6), move platform structure (2), its characterized in that:

move platform structure (2) and comprise first revolving stage (021), second revolving stage (022), third revolving stage (023), fourth revolving stage (024) and terminal platform (025), first revolving stage (021) is connected with terminal platform (025) through ninth revolute pair (25) of zeroth, second revolving stage (022) is connected with terminal platform (025) through first zero revolute pair (26), third revolving stage (023) is connected with terminal platform (025) through first zero one revolute pair (27), fourth revolving stage (024) is connected with terminal platform (025) through first two and two revolute pairs (28),

the first branched chain (3) consists of a first support frame (101), a first primary transmission wheel (104), a first secondary transmission wheel (105), a first tertiary transmission wheel (108), a first quaternary transmission wheel (109), a first quinary transmission wheel (110), a first sixth transmission wheel (111), a first synchronous belt (106), a first secondary synchronous belt (107), a first tertiary synchronous belt (112), a first primary oscillating bar (102), a first secondary oscillating bar (103), a first tertiary oscillating bar (113), a first quaternary oscillating bar (114), a first one-to-one connecting member (115), a first secondary connecting member (116), a first one-to-one connecting rod (118), a first push rod (117) and a first servo motor (119), the first primary oscillating bar (102) is connected with the first support frame (101) through a first one-to-one rotating pair (130), and the first oscillating bar (102) is connected with the first primary transmission wheel (104) through a first secondary rotating pair (120), the first swing rod (102) is connected with a first connecting rod (118) through a first three-rotation pair (128), the first swing rod (102) is connected with a first three-swing rod (113) through a first one-to-one moving pair (124), the first second swing rod (103) is connected with a first supporting frame (101) through a first four-rotation pair (131), the first second swing rod (103) is connected with a first second transmission wheel (105) through a first five-rotation pair (121), the first second swing rod (103) is connected with the first one-to-one connecting rod (118) through a first six-rotation pair (129), the first second swing rod (103) is connected with a first four-swing rod (114) through a first two-to-one moving pair (125), the first one-to-transmission wheel (104) is connected with a first three-transmission wheel (108) through a first one-to-time belt (106), the first three-transmission wheel (108) is fixedly connected with a first five-transmission wheel (110), and the first five-transmission wheel (110) is connected with a first six-transmission wheel (111) through, the first six-transmission wheel (111) is fixedly connected with the first four-transmission wheel (109), the first four-transmission wheel (109) is connected with the first two-transmission wheel (105) through a first two-synchronous belt (107), a first three-swing rod (113) is fixedly connected with a first one-synchronous belt (106) through a first one-connecting component (115), the first three-swing rod (113) is connected with a first push rod (117) through a first seven-revolute pair (126), the first four-swing rod (114) is fixedly connected with the first two-synchronous belt (107) through a first two-connecting component (116), the first four-swing rod (114) is connected with the first push rod (117) through a first eight-revolute pair (127), a first servo motor (119) is installed on the first support frame (101) and connected with the first six-transmission wheel (111), the first support frame (101) is connected with the machine frame (1) through a zero-rotation pair (11), and the first push rod (117) is connected with a first rotary table (021) through a zero-fifth revolute pair (21),

the rotating axes of the first one-to-one rotating pair (130), the first two-to-one rotating pair (120), the first three-to-one rotating pair (128), the first four-to-one rotating pair (131), the first five-to-one rotating pair (121), the first six-to-one rotating pair (129), the first seven-to-one rotating pair (126) and the first eight-to-one rotating pair (127) are parallel to each other, the axial distance between the first one-to-one rotating pair (130) and the first two-to-two rotating pair (120) is equal to the axial distance between the first four-to-one rotating pair (131) and the first five-to-one rotating pair (121), the axial distance between the first one-to-one rotating pair (130) and the first three-to-one rotating pair (128) is equal to the axial distance between the first two-to-two rotating pair (120) and the first six-to-one rotating pair (129), the axial distance between the first one-to the first two rotating pair (120) and the first six-to-one rotating pair, the axial distance between the first one-rotation pair (130) and the first seven-rotation pair (126) is equal to the axial distance between the first four-rotation pair (131) and the first eight-rotation pair (127),

the second branched chain (4) consists of a second support frame (201), a second transmission wheel (204), a second secondary transmission wheel (205), a second third transmission wheel (208), a second fourth transmission wheel (209), a second fifth transmission wheel (210), a second sixth transmission wheel (211), a second synchronous belt (206), a second synchronous belt (207), a second synchronous belt (212), a second oscillating bar (202), a second oscillating bar (203), a second third oscillating bar (213), a second fourth oscillating bar (214), a second connecting member (215), a second connecting member (216), a second connecting rod (218), a second push rod (217) and a second servo motor (219), the second first oscillating bar (202) is connected with the second support frame (201) through a second revolute pair (230), and the second oscillating bar (202) is connected with the second transmission wheel (204) through a second revolute pair (220), the second swing link (202) is connected with a second connecting rod (218) through a second third rotating pair (228), the second swing link (202) is connected with a second third swing link (213) through a second first moving pair (224), the second swing link (203) is connected with a second support frame (201) through a second fourth rotating pair (231), the second swing link (203) is connected with a second driving wheel (205) through a second fifth rotating pair (221), the second swing link (203) is connected with the second connecting rod (218) through a second sixth rotating pair (229), the second swing link (203) is connected with a second fourth swing link (214) through a second moving pair (225), the second driving wheel (204) is connected with a second third driving wheel (208) through a second synchronous belt (206), the second third driving wheel (208) is fixedly connected with a second fifth driving wheel (210), and the fifth driving wheel (210) is connected with a sixth driving wheel (211) through a second synchronous belt (212), a second sixth driving wheel (211) is fixedly connected with a second fourth driving wheel (209), the second fourth driving wheel (209) is connected with a second driving wheel (205) through a second synchronous belt (207), a second third swing link (213) is fixedly connected with a second synchronous belt (206) through a second connecting member (215), the second third swing link (213) is connected with a second pushing rod (217) through a second seventh revolute pair (226), a second fourth swing link (214) is fixedly connected with the second synchronous belt (207) through a second connecting member (216), the second fourth swing link (214) is connected with the second pushing rod (217) through a second eighth revolute pair (227), a second servo motor (219) is installed on a second support frame (201) and connected with the second sixth driving wheel (211), the second support frame (201) is connected with a rack (1) through a zero second revolute pair (12), and the second pushing rod (217) is connected with a second rotary table (022) through a zero sixth revolute pair (22),

the rotation axes of the first rotation pair (230), the second rotation pair (220), the second third rotation pair (228), the second fourth rotation pair (231), the second fifth rotation pair (221), the second sixth rotation pair (229), the second seventh rotation pair (226) and the second eighth rotation pair (227) are parallel to each other, the axial distance between the second rotation pair (230) and the second rotation pair (220) is equal to the axial distance between the second fourth rotation pair (231) and the second fifth rotation pair (221), the axial distance between the second rotation pair (230) and the second third rotation pair (228) is equal to the axial distance between the second rotation pair (220) and the second sixth rotation pair (229), the axial distance between the second rotation pair (230) and the second fourth rotation pair (231), the axial distance between the second rotation pair (220) and the second sixth rotation pair (229), the axial distance between the second rotation pair (228) and the second fifth rotation pair (221) is equal to the axial distance between the second rotation pair (226) and the eighth rotation pair (227), the axial distance between the second first revolute pair (230) and the second seventh revolute pair (226) is equal to the axial distance between the second fourth revolute pair (231) and the second eighth revolute pair (227),

the third branched chain (5) consists of a third support frame (301), a third driving wheel (304), a third secondary driving wheel (305), a third driving wheel (308), a third fourth driving wheel (309), a third fifth driving wheel (310), a third sixth driving wheel (311), a third synchronous belt (306), a third synchronous belt (307), a third synchronous belt (312), a third oscillating bar (302), a third oscillating bar (303), a third oscillating bar (313), a third fourth oscillating bar (314), a third connecting member (315), a third second connecting member (316), a third connecting rod (318), a third push rod (317) and a third servo motor (319), the third oscillating bar (302) is connected with the third support frame (301) through a third revolute pair (330), the third oscillating bar (302) is connected with the third driving wheel (304) through a third revolute pair (320), the third swing rod (302) is connected with a third connecting rod (318) through a third revolute pair (328), the third swing rod (302) is connected with a third swing rod (313) through a third revolute pair (324), the third second swing rod (303) is connected with a third support frame (301) through a third four revolute pair (331), the third second swing rod (303) is connected with a third second transmission wheel (305) through a third fifth revolute pair (321), the third second swing rod (303) is connected with the third connecting rod (318) through a third six revolute pair (329), the third second swing rod (303) is connected with a third fourth swing rod (314) through a third two revolute pair (325), the third transmission wheel (304) is connected with a third transmission wheel (308) through a third synchronous belt (306), the third transmission wheel (308) is fixedly connected with the third fifth transmission wheel (310), and the third transmission wheel (310) is connected with the sixth transmission wheel (311) through a third synchronous belt (312), a third sixth driving wheel (311) is fixedly connected with a third fourth driving wheel (309), the third fourth driving wheel (309) is connected with a third second driving wheel (305) through a third synchronous belt (307), a third swing rod (313) is fixedly connected with a third synchronous belt (306) through a third connecting component (315), the third swing rod (313) is connected with a third push rod (317) through a third pseudo-ginseng revolute pair (326), the third fourth swing rod (314) is fixedly connected with the third synchronous belt (307) through a third second connecting component (316), the third swing rod (314) is connected with the third push rod (317) through a third eighth revolute pair (327), a third servo motor (319) is installed on a third support frame (301) and is connected with the third sixth driving wheel (311), the third support frame (301) is connected with a rack (1) through a zeroth revolute pair (13), and the third push rod (317) is connected with a third turntable (23) through a zeroth revolute pair (23),

the rotating axes of the third first rotating pair (330), the third second rotating pair (320), the third rotating pair (328), the third fourth rotating pair (331), the third fifth rotating pair (321), the third sixth rotating pair (329), the third pseudo-ginseng rotating pair (326) and the third eighth rotating pair (327) are parallel to each other, the axial distance between the third first rotating pair (330) and the third second rotating pair (320) is equal to the axial distance between the third fourth rotating pair (331) and the third fifth rotating pair (321), the axial distance between the third first rotating pair (330) and the third rotating pair (328) is equal to the axial distance between the third second rotating pair (320) and the third sixth rotating pair (329), the axial distance between the third rotating pair (330) and the third fourth rotating pair (331), the axial distance between the third rotating pair (320) and the third sixth rotating pair (329), and the axial distance between the third rotating pair (328) and the third rotating pair (326) are equal to the axial distance between the third rotating pair (328) and the eighth rotating pair (327), the axial distance between the third revolute pair (330) and the third revolute pair (326) is equal to the axial distance between the third revolute pair (331) and the third eight revolute pair (327),

the fourth branched chain (6) consists of a fourth supporting frame (401), a fourth driving wheel (404), a fourth second driving wheel (405), a fourth third driving wheel (408), a fourth driving wheel (409), a fourth fifth driving wheel (410), a fourth sixth driving wheel (411), a fourth synchronous belt (406), a fourth synchronous belt (407), a fourth synchronous belt (412), a fourth first oscillating bar (402), a fourth second oscillating bar (403), a fourth third oscillating bar (413), a fourth oscillating bar (414), a fourth connecting member (415), a fourth second connecting member (416), a fourth connecting rod (418), a fourth push rod (417) and a fourth servo motor (419), the fourth oscillating bar (402) is connected with the fourth supporting frame (401) through a fourth revolute pair (430), and the fourth oscillating bar (402) is connected with the fourth driving wheel (404) through a fourth revolute pair (420), the fourth swing rod (402) is connected with a fourth connecting rod (418) through a fourth third rotating pair (428), the fourth swing rod (402) is connected with a fourth third swing rod (413) through a fourth first moving pair (424), the fourth second swing rod (403) is connected with a fourth supporting frame (401) through a fourth rotating pair (431), the fourth second swing rod (403) is connected with a fourth driving wheel (405) through a fourth fifth rotating pair (421), the fourth second swing rod (403) is connected with the fourth connecting rod (418) through a fourth sixth rotating pair (429), the fourth second swing rod (403) is connected with a fourth swing rod (414) through a fourth second moving pair (425), the fourth driving wheel (404) is connected with a fourth third driving wheel (408) through a fourth synchronous belt (406), the fourth driving wheel (408) is fixedly connected with the fourth fifth driving wheel (410), and the fourth driving wheel (410) is connected with a sixth driving wheel (411) through a fourth synchronous belt (412), a fourth sixth driving wheel (411) is fixedly connected with a fourth driving wheel (409), the fourth driving wheel (409) is connected with a fourth second driving wheel (405) through a fourth synchronous belt (407), a fourth swing rod (413) is fixedly connected with a fourth synchronous belt (406) through a fourth connecting component (415), the fourth swing rod (413) is connected with a fourth push rod (417) through a fourth seventh revolute pair (426), a fourth swing rod (414) is fixedly connected with a fourth synchronous belt (407) through a fourth second connecting component (416), the fourth swing rod (414) is connected with a fourth push rod (417) through a fourth eighth revolute pair (427), a fourth servo motor (419) is installed on a fourth support frame (401) and connected with the fourth sixth driving wheel (411), the fourth support frame (401) is connected with a rack (1) through a zeroth fourth revolute pair (14), and the fourth push rod (417) is connected with a fourth rotary table (024) through a zeroth eighth revolute pair (24),

the rotation axes of the fourth first rotation pair (430), the fourth second rotation pair (420), the fourth third rotation pair (428), the fourth rotation pair (431), the fourth fifth rotation pair (421), the fourth sixth rotation pair (429), the fourth seventh rotation pair (426) and the fourth eighth rotation pair (427) are parallel to each other, the distance between the axes of the fourth rotation pair (430) and the fourth second rotation pair (420) is equal to the distance between the axes of the fourth rotation pair (431) and the fourth fifth rotation pair (421), the distance between the axes of the fourth rotation pair (430) and the fourth third rotation pair (428) is equal to the distance between the axes of the fourth rotation pair (420) and the fourth sixth rotation pair (429), the distance between the axes of the fourth rotation pair (430) and the fourth rotation pair (431), the distance between the axes of the fourth rotation pair (420) and the fourth rotation pair (429), the distance between the axes of the fourth rotation pair (428) and the fourth rotation pair (421) is equal to the distance between the axes of the fourth rotation pair (426) and the eighth rotation pair (426), the axial distance between the fourth first revolute pair (430) and the fourth seventh revolute pair (426) is equal to the axial distance between the fourth revolute pair (431) and the fourth eight revolute pair (427).

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