CN218659072U - Profiling manipulator - Google Patents

Abstract

The utility model discloses a profiling manipulator, which comprises a palm, five fingers and a plurality of knuckle driving mechanisms; each knuckle driving mechanism comprises a motor, a first hinge shaft, a lead screw mechanism, a compression spring and a second hinge shaft; any two adjacent knuckles of each finger are respectively connected through a knuckle driving mechanism, and the knuckle closest to the palm is respectively connected with the palm through a knuckle driving mechanism; the motor of the knuckle driving mechanism connecting two adjacent knuckles is hinged on the knuckle close to the palm through a first hinge shaft, and the transmission nut of the motor is hinged on the knuckle far from the palm through a second hinge shaft; the motor of each knuckle drive mechanism connecting the palm and the knuckle is hinged on the palm through a first hinge shaft, and the transmission nut of the motor is hinged on the knuckle through a second hinge shaft. The utility model discloses a knuckle of finger adopts knuckle actuating mechanism to drive and rotates to can be so that the finger is crooked, be convenient for snatch the article, especially more advantageous to snatching of the article that the appearance is complicated.

Description

Profiling manipulator

Technical Field

The utility model belongs to the anchor clamps field, more specifically relates to a profile modeling manipulator.

Background

The robot equipment has high environmental adaptability and reliable efficiency, and can replace human beings to finish heavy work, so that more and more industries adopt the robot equipment to replace human beings to work, through the development of scientific technology, the types of the robot equipment are more and more, and mechanical arms and mechanical claws on the robot are important components for helping the robot to exert the functions of taking, placing and transferring objects.

Generally, a robot or a mechanical arm operates an object through an end effector, in the aspects of taking, placing, moving and the like, a mechanical claw is the most applied end effector, and most of the existing mechanical claws are pneumatic, have poor stability of working speed, large size and high requirement on space fields, and cannot be used for a micro instrument to grab a small or micro object; in addition, the conventional mechanical claw is formed by clamping the side surface of an object by a plurality of clamping fingers through simultaneous translation or rotation matching, and has poor flexibility and difficulty in adapting to the grabbing of the object with a complex shape or the object with an incompressible side surface.

SUMMERY OF THE UTILITY MODEL

To the above defect or the improvement demand of prior art, the utility model provides a profile modeling manipulator, it can realize precision drive and be adapted to miniature instrument and get little article, and every finger has many knuckles moreover, and the flexible is convenient for cooperate and is snatch the article that the shape is complicated.

In order to achieve the above object, according to an aspect of the present invention, there is provided a profiling manipulator, comprising a palm and five fingers mounted on the palm, each of the fingers having a plurality of knuckles, and further comprising a plurality of knuckle driving mechanisms;

for each knuckle driving mechanism, the knuckle driving mechanism comprises a motor, a first hinge shaft, a lead screw mechanism, a compression spring and a second hinge shaft, wherein the lead screw mechanism comprises a lead screw and a transmission nut which is arranged on the lead screw in a penetrating manner;

for each finger, any two adjacent knuckles are respectively hinged through a third hinge shaft and are respectively connected through a knuckle driving mechanism, and the knuckle closest to the palm is hinged with the palm through a fourth hinge shaft and is respectively connected through a knuckle driving mechanism;

each first hinge shaft, each second hinge shaft, each third hinge shaft and each fourth hinge shaft are mutually parallel in pairs;

for each knuckle driving mechanism connecting two adjacent knuckles, a motor is hinged on the knuckle closer to the palm through a first hinge shaft, a transmission nut is hinged on the knuckle farther from the palm through a second hinge shaft, and the transmission nut and the knuckles are in plane contact;

for each of the knuckle drive mechanisms connecting the palm and the knuckle, the motor is hinged to the palm by a first hinge shaft and the drive nut is hinged to the knuckle by a second hinge shaft, and the drive nut is in planar contact with the knuckle.

Preferably, the palm comprises a palm body and a thumb connecting piece, the palm body is provided with the thumb connecting piece at a position corresponding to the thumb, the thumb connecting piece is provided with a thumb connecting rod, the thumb connecting rod is inserted into the palm body from the palm center face and is fixedly connected with the palm body, and the knuckle of the thumb closest to the palm is hinged to the thumb connecting piece through a fourth hinge shaft.

Preferably, the thumb connecting rod is perpendicular to the palm surface.

Preferably, the palm comprises a palm body and a middle finger connecting rod, the palm body is provided with the middle finger connecting rod at a position corresponding to the middle finger, the middle finger connecting rod is inserted into the palm body and fixedly connected with the palm body, the knuckle of the middle finger closest to the palm is hinged with the middle finger connecting rod through a fourth hinge shaft, and a motor of a knuckle driving mechanism connecting the middle finger and the palm is hinged on the middle finger connecting rod through a first hinge shaft.

Preferably, the palm comprises a palm body and a ring finger connecting rod, the palm body is provided with the ring finger connecting rod at a position corresponding to the ring finger, the ring finger connecting rod is inserted into the palm body and fixedly connected with the palm body, a knuckle of the ring finger closest to the palm is hinged with the ring finger connecting rod through a fourth hinge shaft, and a motor of a knuckle driving mechanism connecting the ring finger and the palm is hinged on the ring finger connecting rod through a first hinge shaft.

Preferably, each of the knuckles is assembled from a plurality of shells.

Preferably, the transmission nut of each knuckle driving mechanism has two lug parts, each lug part is provided with a hinge shaft hole, and a second hinge shaft on the transmission nut passes through each hinge shaft hole;

each knuckle is provided with a mounting boss which is positioned between two lug parts of the transmission nut at the corresponding position;

the second hinge shaft on the transmission nut also penetrates through the mounting boss.

Preferably, the two ear portions sandwich the mounting boss, and the drive nut is in planar contact with each of the ear portions so as to rotate about the second hinge shaft.

Preferably, the motor of each knuckle driving mechanism comprises a motor body and a motor bracket which are fixedly connected, and the motor bracket is hinged on the knuckle through a first hinge shaft.

Preferably, let T be the output torque of the motor, F be the force with which the lead screw drives the drive nut, and F = T/((D/2) × tan (α + β));

wherein D is the pitch diameter of the screw, alpha is the lead angle of the screw and alpha = tan ^-1 (L _d /πD)，L _d The thread pitch of the lead screw; beta is the equivalent friction angle and beta = tan ^-1 f, f is the equivalent of a screw pair consisting of a screw and a drive nutCoefficient of friction;

f is then equal to or greater than Kxx Δ x _max Where K is the spring constant of the compression spring,. DELTA.x _max The maximum amount of deformation of the compression spring.

Generally, through the utility model discloses above technical scheme who conceives compares with prior art, can gain following beneficial effect:

1) The utility model discloses a copying manipulator, the knuckle of its finger adopt knuckle actuating mechanism to drive and rotate to can make the finger crooked, make this copying manipulator can pick the article like the staff, especially more have an advantage to snatching of the article that the appearance is complicated, the utility model discloses imitate the design of human palm, the drive is accurate, is applicable to humanoid robot.

2) The utility model discloses a profiling manipulator, its knuckle actuating mechanism adopt motor and screw mechanism cooperation, and compression spring is established to lead screw outside cover, can avoid the return difference, makes lead screw and drive nut's cooperation more accurate.

3) The profiling manipulator of the utility model adopts the motor drive to replace the traditional cylinder drive mode, does not need to additionally carry an air compressor, and can be applied to any places with electricity; and compare the cylinder drive, the motor drive noise is little, accords with the environmental protection requirement more, and the manipulator opens and shuts steadily, and the response is rapid.

4) The utility model discloses a lead screw and the drive nut transmission of lead screw mechanism can realize self-locking function, and the clamp is got article more firmly, and can protect the motor, improves the utility model discloses a life.

5) The utility model discloses it is wide to use the range of application, can wide application in the robot arm of each trade, according to the difference of required environment and work precision, combines manufacturing cost requirement, can adopt different types of motors such as brush motor, coreless motor, step motor, brushless motor and servo motor as the power supply, selects more extensively.

Drawings

FIG. 1 is a schematic view of the present invention;

fig. 2 is a schematic view of four fingers of the present invention, except for the thumb;

fig. 3 is a schematic view of a palm of the present invention;

FIG. 4 is a schematic view of the thumb of the present invention

Fig. 5 is an internal schematic view of the thumb of the present invention after removing the outer shell.

FIG. 6 is the inside view of the forefinger of the present invention after the outer shell is removed

Fig. 7 is a schematic view of the inner part of the middle finger of the present invention after the outer shell is removed;

the same reference numbers will be used throughout the drawings to refer to the same or like elements or structures, wherein: 1-palm, 11-palm body, 111-middle finger groove, 112-ring finger groove, 113-forefinger mounting hole, 114-little finger mounting hole, 115-connecting hole, 12-thumb connecting piece, 13-thumb connecting rod, 14-middle finger connecting rod, 15-ring finger connecting rod, 2-finger, 21-knuckle, 211-first mounting boss, 212-shell, 213-second mounting boss, 3-knuckle driving mechanism, 31-motor, 311-motor bracket, 312-connecting terminal, 32-first hinge, 331-lead screw, 332-driving nut, 333-ear, 34-compression spring, 35-second hinge, 4-third hinge and 5-fourth hinge.

Detailed Description

In order to make the objects, technical solutions and advantages of the present invention more clearly understood, the present invention is further described in detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative of the invention and are not intended to limit the invention. Furthermore, the technical features mentioned in the embodiments of the present invention described below can be combined with each other as long as they do not conflict with each other.

Referring to fig. 1 to 7, the profiling manipulator comprises a palm 1 and five fingers 2 mounted on the palm 1, wherein the five fingers 2 are respectively a thumb, an index finger, a middle finger, a ring finger and a little finger, each finger 2 is provided with a plurality of knuckles 21, each knuckle 21 is formed by assembling a plurality of shells 212, the thumb is provided with two knuckles 21, the index finger, the middle finger, the ring finger and the little finger are provided with three knuckles 21, and the other four fingers 2 except the thumb are similar in shape and different in size.

Each knuckle driving mechanism 3 comprises a motor 31, a first hinge shaft 32, a lead screw mechanism, a compression spring 34 and a second hinge shaft 35, wherein the lead screw mechanism comprises a lead screw 331 and a transmission nut 332 penetrating through the lead screw 331, a rotating shaft of the motor 31 is connected with the lead screw 331, the lead screw 331 rotates to drive the transmission nut 332 to move along the axial direction of the lead screw 331, the compression spring 34 penetrates through the lead screw 331, one end of the compression spring 34 applies elastic force on the motor 31, and the other end of the compression spring applies elastic force on the transmission nut 332; the outer cover of lead screw 331 is established compression spring 34 for the error that the compensation drive nut 332 machinery went wrong, can avoid the return difference, makes lead screw 331 and drive nut 332's cooperation more accurate. The rear end of the motor 31 is provided with an encoder and a connection terminal 312 for an external power supply or a signal generator, the rotating shaft of the motor 31 is preferably connected with a lead screw 331 through a gear box, a compression spring 34 is sleeved outside the lead screw 331, and the length h of the compression spring 34 must be greater than or equal to the effective length of the lead screw 331.

For each finger 2, any two adjacent knuckles 21 are respectively hinged through a third hinge shaft 4 and respectively connected through a knuckle driving mechanism 3, and the knuckle 21 closest to the palm 1 is hinged with the palm 1 through a fourth hinge shaft 5 and respectively connected through a knuckle driving mechanism 3; the total number of the knuckle drive mechanisms 3 is equal to the total number of the knuckles 21 of the manipulator, and if the manipulator has N knuckles 21, N knuckle drive mechanisms 3 are needed to drive the knuckles 21 to rotate, so as to realize the bending of the finger 2.

Each of the first hinge shafts 32, each of the second hinge shafts 35, each of the third hinge shafts 4, and each of the fourth hinge shafts 5 are parallel to each other in pairs so that each knuckle 21 of the finger 2 can be rotated.

For each knuckle drive mechanism 3 connecting two adjacent knuckles 21, the motor 31 is hinged to the knuckle 21 closer to the palm 1 through the first hinge shaft 32, the transmission nut 332 is hinged to the knuckle 21 farther from the palm 1 through the second hinge shaft 35, and the transmission nut 332 is in planar contact with the knuckle 21 so as to facilitate the transmission nut 332 to slide on the knuckle 21 and facilitate the knuckle 21 farther from the palm 1 to rotate around the center line of the third hinge shaft 4, so that the two knuckles 21, the motor 31 and the screw mechanism can form a four-bar link-block mechanism, and the transmission nut 332 moves along the axial direction of the screw 331 to drive the two adjacent knuckles 21 to rotate relatively.

For each of the knuckle drive mechanisms 3 connecting the palm 1 and the knuckle 21, the motor 31 thereof is hinged to the palm 1 by the first hinge shaft 32 and the driving nut 332 thereof is hinged to the knuckle 21 by the second hinge shaft 35, and the driving nut 332 is in plane contact with the knuckle 21 so as to facilitate the driving nut 332 to slide on the knuckle 21 and to facilitate the rotation of the knuckle 21 farther from the palm 1 about the center line of the fourth hinge shaft 5. The palm 1, the knuckle 21, the motor 31 and the screw mechanism can form a four-bar linkage slider mechanism, and the transmission nut 332 can drive the knuckle 21 to rotate relative to the palm 1 by moving along the axial direction of the screw 331.

The utility model discloses a motor 31 drive lead screw 331 is rotatory, promotes drive nut 332 around the central line swing of second hinge 35, and then drives opening and shutting of knuckle 21 to can realize pointing 2's bending, be used for snatching article. Each knuckle 21 is controlled by a separate motor 31, which is more flexible to use. The robot has accurate transmission and human hand simulation design, can grab relatively complex objects, can be in a micro structure, and is suitable for micro and small instruments.

Further, palm 1 includes palm 11 and thumb connecting piece 12, palm 11 is in the position installation that corresponds to this finger 2 of thumb connecting piece 12, be provided with thumb connecting rod 13 on the thumb connecting piece 12, thumb connecting rod 13 insert the connecting hole 115 in palm 11 and with palm 11 fixed connection, preferably through the screw connection from the palm face of palm 11, then thumb connecting piece 12 is fixed on palm 11, can not rotate. The knuckle 21 of the thumb closest to the palm 1 is hinged to the thumb joint 12 via a fourth pivot 5. The thumb connecting piece 12 can adopt an integrally formed shell structure as an extension of the palm body 11, so that the thumb can be conveniently connected to the outside of the palm body 11. In addition, the thumb connecting rod 13 is perpendicular to the palm surface of the palm body 11, so that the thumb can bend inwards to match with other fingers 2 to grab objects. The palm body 11 is provided with a thumb groove at a position corresponding to the thumb, so that the thumb connecting rod 13 can conveniently extend into the palm body 11 to be fixed through a screw, and the thumb connecting piece 12 can also be fixed.

The utility model discloses an index finger, the middle finger, ring finger and little finger are all installed at the top of palm 1, index finger and little finger are installed respectively in index finger mounting hole 113 and little finger mounting hole 114 of palm 1, the most recent knuckle 21 of leaving palm 1 of index finger and little finger is through fourth hinge 5 direct mount in index finger mounting hole 113 and little finger mounting hole 114, fourth hinge 5 passes inside through-hole in index finger mounting hole 113 and little finger mounting hole 114, it is fixed through screw and nut in the outside of palm 1, index finger and little finger fourth hinge 5 relatively rotate.

Further, the palm 1 further comprises a middle finger connecting rod 14, the palm body 11 is provided with the middle finger connecting rod 14 at a position corresponding to the finger 2 of the middle finger, the middle finger connecting rod 14 is inserted into the palm body 11 and is fixedly connected with the palm body 11, the knuckle 21 of the middle finger, which is closest to the palm 1, is hinged with the middle finger connecting rod 14 through a fourth hinge shaft 5, and a motor 31 for connecting the middle finger and the knuckle driving mechanism 3 of the palm 1 is hinged on the middle finger connecting rod 14 through a first hinge shaft 32. The palm body 11 is provided with a middle finger groove 111 at a position corresponding to the middle finger, so that the middle finger connecting rod 14 can be conveniently inserted into the palm body 11 for fixing, and the middle finger can be conveniently connected. Since the middle finger is in the middle position, the knuckle 21 of the middle finger closest to the palm 1 can be installed inconveniently if it is directly installed on the palm 1 through the fourth hinge 5 and the first hinge 32 on the motor 31, and therefore, the middle finger connecting rod 14 is provided, the fourth hinge 5 and the first hinge 32 can be installed on the middle finger connecting rod 14, and then the middle finger connecting rod 14 can be inserted into the middle finger groove 111 and fixed on the palm body 11 through the screw.

Further, the palm 1 further comprises a ring finger connecting rod 15, the palm body 11 is provided with the ring finger connecting rod 15 at a position corresponding to the ring finger 2, the ring finger connecting rod 15 is inserted into the palm body 11 and is fixedly connected with the palm body 11, a knuckle 21 of the ring finger closest to the palm 1 is hinged with the ring finger connecting rod 15 through a fourth hinge shaft 5, and a motor 31 of a knuckle driving mechanism 3 connecting the ring finger and the palm 1 is hinged on the ring finger connecting rod 15 through a first hinge shaft 32. The palm body 11 is provided with a ring finger groove 112 at a position corresponding to the ring finger, so that the ring finger connecting rod 15 can conveniently extend into the palm body 11 for fixing, and the ring finger can be conveniently connected. Since the ring finger is in the middle position, the finger joint 21 of the ring finger closest to the palm 1 is inconvenient to mount if directly mounted on the palm 1 through the fourth hinge shaft 5 and the first hinge shaft 32 on the motor 31, and therefore, the ring finger connecting rod 15 is provided, the fourth hinge shaft 5 and the first hinge shaft 32 can be firstly mounted on the ring finger connecting rod 15, and then the ring finger connecting rod 15 is inserted into the ring finger groove 112 and fixed on the palm body 11 through the screw.

Further, for the transmission nut 332 of each knuckle drive mechanism 3, it has two ears 333, each of the ears 333 is provided with a hinge shaft hole, and the second hinge shaft 35 of the transmission nut 332 passes through each hinge shaft hole; each knuckle 21 has a first mounting boss 211, and the first mounting boss 211 is located between two ears 333 of the corresponding transmission nut 332; the second hinge shaft 35 of the driving nut 332 also passes through the first mounting boss 211, which facilitates the mounting of the driving nut 332 on the knuckle 21. Here, the two ear portions 333 sandwich the first mounting boss 211, and the driving nut 332 is in plane contact with each of the ear portions 333, so that the driving nut 332 rotates about the second hinge shaft 35, which ensures smooth movement of the driving nut 332.

Further, the motor 31 of each knuckle driving mechanism 3 comprises a motor body and a motor bracket 311 which are fixedly connected, and the motor bracket 311 is hinged on the knuckle 21 through a first hinge shaft 32. The motor bracket 311 is preferably U-shaped, each of the knuckles 21 has a second mounting boss 213 at a position corresponding to the first hinge shaft 32 of the motor bracket 311, the motor bracket 311 clamps the second mounting boss 213, and the first hinge shaft 32 passes through the motor bracket 311 and the second mounting boss 213.

Further, let T be the output torque of the motor 31, F be the force with which the lead screw 331 drives the drive nut 332, and F = T/((D/2) × tan (α + β)).

Wherein D is the pitch diameter of the screw 331, α is the lead angle of the screw 331, and α = tan ^-1 (L _d /πD)，L _d The pitch of the lead screw 331; beta is the equivalent friction angle and beta = tan ^-1 f and f are equivalent friction coefficients of a screw pair consisting of the screw 331 and the transmission nut 332.

In the conditions of high processing precision and good installation and matching, neglecting transmission friction in order to simplify transmission stress analysis, when the knuckle 21 of the finger 2 is closed or unfolded, the lead screw 331 pushes the transmission nut 332 to reciprocate, and the compression spring 34 is extruded because the length of the compression spring 34 must be greater than or equal to the effective length of the lead screw 331, that is, no matter whether the transmission nut 332 moves upwards or downwards (the direction of moving upwards away from the motor 31 and the direction of moving downwards close to the motor 31), the compression spring 34 always has an elastic force F on the transmission nut 332 _p Forming a pressure in which F _p K = K × Δ x (K is the elastic coefficient of the compression spring 34, and Δ x is the deformation amount of the compression spring 34).

Then assume that the force applied to the drive nut 332 is F _LP When the driving nut 332 is moved upward, i.e. the driving nut 332 is away from the motor 31, the motor 31 applies the force to the driving nut 332 in the same direction as the force of the compression spring 34, i.e.: f _LP ＝F+F _p 。

When the driving nut 332 moves downward, i.e. the driving nut 332 approaches the motor 31, the force applied to the driving nut 332 by the motor 31 is opposite to the force of the compression spring 34, i.e.: f _LP ＝F-F _p 。

It follows that the design requirements of the motor 31 must be such that F ≧ KxDeltax _max Wherein Δ x _max Is the maximum amount of deformation, Δ x, of the compression spring 34 _max The design determines that the larger the spring constant K of the compression spring 34, the larger the force required by the motor 31, and if the motor 31 is fixed, the proper spring constant K is selectedWhen the spring 34 is compressed, the working efficiency of the motor 31 is considered.

Because the transmission mode is screw mechanism's transmission, when the lead angle is less than the friction angle, the transmission of drive nut 332 has self-locking function, and the manipulator is after snatching article, even if motor 31 cuts off the power supply, each knuckle 21 of manipulator also can stop in current position, can not fall back, makes the manipulator snatch article more stable, also can protect motor 31, increases the life of mechanism.

It will be understood by those skilled in the art that the foregoing is merely a preferred embodiment of the present invention, and is not intended to limit the invention to the particular forms disclosed, but on the contrary, the intention is to cover all modifications, equivalents, and alternatives falling within the spirit and scope of the invention as defined by the appended claims.

Claims (10)

1. A profiling manipulator comprises a palm and five fingers arranged on the palm, wherein each finger is provided with a plurality of knuckles respectively;

for each knuckle driving mechanism, the knuckle driving mechanism comprises a motor, a first hinge shaft, a lead screw mechanism, a compression spring and a second hinge shaft, wherein the lead screw mechanism comprises a lead screw and a transmission nut which is arranged on the lead screw in a penetrating manner;

for each finger, any two adjacent knuckles are respectively hinged through a third hinge shaft and are respectively connected through a knuckle driving mechanism, and the knuckle closest to the palm is hinged with the palm through a fourth hinge shaft and is respectively connected through a knuckle driving mechanism;

each first hinge shaft, each second hinge shaft, each third hinge shaft and each fourth hinge shaft are mutually parallel in pairs;

for each knuckle driving mechanism connecting two adjacent knuckles, a motor is hinged on the knuckle closer to the palm through a first hinge shaft, a transmission nut is hinged on the knuckle farther from the palm through a second hinge shaft, and the transmission nut and the knuckles are in plane contact;

for each of the knuckle drive mechanisms connecting the palm and the knuckle, the motor thereof is hinged to the palm by a first hinge shaft and the drive nut thereof is hinged to the knuckle by a second hinge shaft, and the drive nut is in planar contact with the knuckle.

2. The profiling manipulator according to claim 1, wherein the palm comprises a palm body and a thumb connecting piece, the palm body is provided with the thumb connecting piece at a position corresponding to the finger of the thumb, the thumb connecting piece is provided with a thumb connecting rod, the thumb connecting rod is inserted into the palm body from the palm center face of the palm body and is fixedly connected with the palm body, and the knuckle of the thumb closest to the palm is hinged with the thumb connecting piece through a fourth hinge shaft.

3. The profiling robot of claim 2, wherein said thumb connecting bar is perpendicular to the palm face.

4. The profiling manipulator according to claim 1, wherein the palm comprises a palm body and a middle finger connecting rod, the palm body is provided with the middle finger connecting rod at a position corresponding to the middle finger, the middle finger connecting rod is inserted into the palm body and fixedly connected with the palm body, the knuckle of the middle finger closest to the palm is hinged with the middle finger connecting rod through a fourth hinge shaft, and a motor of a knuckle driving mechanism connecting the middle finger and the palm is hinged on the middle finger connecting rod through a first hinge shaft.

5. The copying robot of claim 1, wherein the palm includes a palm body to which the ring finger connecting rod is attached at a position corresponding to the ring finger, and a ring finger connecting rod inserted into the palm body and fixedly connected to the palm body, a knuckle of the ring finger closest to the palm is hinged to the ring finger connecting rod by a fourth hinge shaft, and a motor connecting the ring finger and a knuckle driving mechanism of the palm is hinged to the ring finger connecting rod by a first hinge shaft.

6. The profiling robot of claim 1, wherein each of said knuckles is assembled from a plurality of shells.

7. The profiling robot of claim 1, wherein the drive nut of each knuckle drive mechanism has two ear portions, each ear portion is provided with a hinge shaft hole, and a second hinge shaft of the drive nut passes through each hinge shaft hole;

each knuckle is provided with a mounting boss which is positioned between two lug parts of the transmission nut at the corresponding position;

the second hinge shaft on the transmission nut also penetrates through the mounting boss.

8. The profiling robot of claim 7 wherein the two ears clamp the mounting bosses and the drive nut is in planar contact with each ear for rotation about the second hinge axis.

9. The profiling robot according to claim 1, wherein the motor of each knuckle drive mechanism comprises a fixedly connected motor body and a motor bracket, and the motor bracket is hinged on the knuckle through a first hinge shaft.

10. The profiling robot according to claim 1, wherein let T be the output torque of the motor, F be the force of the screw driving the drive nut, and F = T/((D/2) × tan (α + β));

wherein D is the pitch diameter of the screw, alpha is the lead angle of the screw and alpha = tan ^-1 (L _d /πD)，L _d The thread pitch of the lead screw; beta is the equivalent friction angle and beta = tan ^-1 f, f is the equivalent friction coefficient of a screw pair consisting of the screw and the transmission nut;

f is then equal to or greater than Kxx Δ x _max Where K is the spring constant of the compression spring,. DELTA.x _max The maximum amount of deformation of the compression spring.

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