阅读说明：本技术 一种多连杆传动平衡式重载机器人 (Multi-connecting-rod transmission balanced type heavy-load robot ) 是由 赵永杰 孙维 余洁 卢新建 张咏行 于 2020-11-05 设计创作，主要内容包括：本发明公开了一种多连杆传动平衡式重载机器人,包括底座,底座上设置有第一驱动电机,底座上转动连接有转座,第一驱动电机可带动转座转动,转座上设置有直线驱动装置,直线驱动装置具有可上下活动的活动副,转座上转动连接有主臂与配重臂,主臂上转动连接有子臂,配重臂上转动连接有第一连杆,主臂与配重臂分别位于直线驱动装置的两侧,子臂与活动副之间连接有第一传动组件,第一连杆与活动副之间连接有第二传动组件,本发明利用配重臂可对主臂自重产生的力矩进行补偿,有效减少了偏重力矩对结构、性能造成的不良影响,在第一驱动电机功率相同的情况下能实现更大的有效负载,具有良好的实用价值。(The invention discloses a multi-connecting rod transmission balanced heavy-duty robot, which comprises a base, wherein a first driving motor is arranged on the base, a rotary seat is rotatably connected on the base, the first driving motor can drive the rotary seat to rotate, a linear driving device is arranged on the rotary seat, the linear driving device is provided with a movable pair capable of moving up and down, a main arm and a counterweight arm are rotatably connected on the rotary seat, a sub-arm is rotatably connected on the main arm, a first connecting rod is rotatably connected on the counterweight arm, the main arm and the counterweight arm are respectively positioned at two sides of the linear driving device, a first transmission component is connected between the sub-arm and the movable pair, and a second transmission component is connected between the first connecting rod and the movable pair. Has good practical value.)

1. The utility model provides a many connecting rods transmission balanced type heavy load robot which characterized in that: including base (100), be provided with first driving motor on base (100), it is connected with swivel mount (200) to rotate on base (100), first driving motor can drive swivel mount (200) rotate, the rotation axis of swivel mount (200) extends along vertical direction, be provided with sharp drive arrangement on swivel mount (200), sharp drive arrangement has the vice (830) of activity that can move about from top to bottom, it is connected with main arm (310) and counterweight arm (410) to rotate on swivel mount (200), it is connected with sub-arm (320) to rotate on main arm (310), counterweight arm (410) are gone up to rotate and are connected with first connecting rod (420), main arm (310) with counterweight arm (410) are located respectively linear drive arrangement's both sides, the rotation axis of main arm (310) with the rotation axis of counterweight arm (410), the rotation axis of sub-arm (320), The rotation axes of the first connecting rod (420) are parallel to each other, a first transmission assembly is connected between the sub-arm (320) and the movable pair (830), a second transmission assembly is connected between the first connecting rod (420) and the movable pair (830), a vertical plane passing through the center of the movable pair (830) is used as a mirror image plane, and the first transmission assembly and the second transmission assembly are of mirror symmetry structures relative to the mirror image plane.

2. The multi-link transmission balanced type heavy-duty robot according to claim 1, characterized in that: the sub-arm (320) is provided with an attitude adjusting assembly, the attitude adjusting assembly comprises a second driving motor (510), a first attitude transmission plate (520), a first attitude transmission rod (530), a second attitude transmission plate (540) and a second attitude transmission rod (550), the second driving motor (510) is arranged on the main arm (310), the output end of the second driving motor (510) is connected with the sub-arm (320) and the first attitude transmission plate (520) in a transmission manner, the second attitude transmission plate (540) is connected to one end, away from the main arm (310), of the sub-arm (320) in a rotation manner, one end of the first attitude transmission rod (530) is connected to one side of the first attitude transmission plate (520) in a rotation manner, the other end of the first attitude transmission rod (530) is connected to the rotation base (200) in a rotation manner, one end of the second attitude transmission rod (550) is connected to the other side of the first attitude transmission plate (520) in a rotation manner, the other end of the second posture transmission rod (550) is rotatably connected to the second posture transmission plate (540), an actuator (560) is arranged on the second posture transmission plate (540), and the rotation axis of the first posture transmission plate (520), the rotation axis of the first posture transmission rod (530), the rotation axis of the second posture transmission plate (540) and the rotation axis of the second posture transmission rod (550) are parallel to each other.

3. The multi-link transmission balanced type heavy-duty robot according to claim 2, characterized in that: the first transmission component comprises a first power transmission rod (610), a second power transmission rod (620) and a seventh power transmission rod (630), one end of the first power transmission rod (610) is rotatably connected to the rotary seat (200), one end of the second power transmission rod (620) is rotatably connected to one end of the sub-arm (320) far away from the second posture transmission plate (540), the other end of the second power transmission rod (620) is rotatably connected to the other end of the first power transmission rod (610), one end of the seventh power transmission rod (630) is rotatably connected to the movable pair (830), the other end of the seventh power transmission rod (630) is rotatably connected to the second power transmission rod (620), the rotation axis of the first power transmission rod (610), the rotation axis of the second power transmission rod (620) and the rotation axis of the seventh power transmission rod (630) are parallel to each other.

4. The multi-link transmission balanced type heavy-duty robot according to claim 2, characterized in that: the first transmission component comprises a first parallelogram transmission rod (640), a first power transmission rod (610) and a second power transmission rod (620), one end of the first power transmission rod (610) is rotatably connected to the rotary seat (200), one end of the second power transmission rod (620) is rotatably connected to one end of the sub-arm (320) far away from the second posture transmission plate (540), the other end of the second power transmission rod (620) is rotatably connected to the other end of the first power transmission rod (610), a pair of corner points of the first parallelogram transmission rod (640) are rotatably connected to the movable pair (830), the other diagonal point of the first parallelogram transmission rod (640) is rotationally connected to the second power transmission rod (620), the rotation axis of the first power transmission rod (610), the rotation axis of the second power transmission rod (620) and the rotation axis of the first parallelogram transmission rod (640) are parallel to each other.

5. The multi-link transmission balanced type heavy-duty robot according to claim 2, characterized in that: one side wall of the movable pair (830) is rotatably connected with a first rotary table, the other side wall of the movable pair (830) is rotatably connected with a second rotary table, an anti-parallelogram transmission rod (651) is arranged on the movable pair (830), one long edge of the anti-parallelogram transmission rod (651) is connected onto the first rotary table in a sliding mode, the other long edge of the anti-parallelogram transmission rod (651) is connected onto the second rotary table in a sliding mode, the first transmission assembly comprises a first power transmission rod (610), a second power transmission rod (620), a third power transmission rod (652) and a fourth power transmission rod (653), one end of the first power transmission rod (610) is rotatably connected onto the rotary table (200), one end of the second power transmission rod (620) and one end of the third power transmission rod (652) are respectively rotatably connected onto one end, far away from the second attitude transmission plate (540), of the sub-arm (320), the other end of the second power transmission rod (620) is rotatably connected to the other end of the first power transmission rod (610), the other end of the third power transmission rod (652) is rotatably connected to a diagonal point on one side of the anti-parallelogram transmission rod (651), one end of the fourth power transmission rod (653) is rotatably connected to the second power transmission rod (620), the other end of the fourth power transmission rod (653) is rotatably connected to a diagonal point on the lower side of one side of the anti-parallelogram transmission rod (651), and the rotation axis of the first power transmission rod (610), the rotation axis of the second power transmission rod (620), the rotation axis of the third power transmission rod (652), the rotation axis of the fourth power transmission rod (653) and the rotation axis of the anti-parallelogram transmission rod (651) are parallel to each other.

6. The multi-link transmission balanced type heavy-duty robot according to claim 2, characterized in that: a second parallel four-side transmission rod (661) is arranged on the movable pair (830), the first transmission assembly comprises a first power transmission rod (610), a second power transmission rod (620), a fifth power transmission rod (662) and a sixth power transmission rod (663), one end of the first power transmission rod (610) is rotatably connected to the swivel base (200), the top edge angle of the second parallel four-side transmission rod (661) is rotatably connected to the movable pair (830), one end of the fifth power transmission rod (662) is rotatably connected to the bottom corner of the second parallel four-side transmission rod (661), the other end of the second power transmission rod (620) and the other end of the fifth power transmission rod (662) are respectively rotatably connected to the other end of the first power transmission rod (610), one end of the sixth power transmission rod (663) is rotatably connected to the second power transmission rod (620), the other end of the sixth power transmission rod (663) is rotatably connected to one side corner of the second parallel four-side transmission rod (661), and the rotation axis of the first power transmission rod (610), the rotation axis of the second power transmission rod (620), the rotation axis of the fifth power transmission rod (662), the rotation axis of the sixth power transmission rod (663) and the rotation axis of the second parallel four-side transmission rod (661) are parallel to each other.

7. The multi-link transmission balanced heavy-duty robot according to any one of claims 3 to 6, wherein: a first gear (710) is arranged at a position, opposite to a rotation axis of the main arm (310), of the rotary seat (200), a first transmission shaft is connected between the first gear (710) and the main arm (310), a second transmission shaft is connected to the rotary seat (200) in a rotating manner, a second gear (720) is arranged on the second transmission shaft, the second gear (720) is meshed with the first gear (710), a third gear (730) is arranged at a position, opposite to the rotation axis of the counterweight arm (410), of the rotary seat (200), a third transmission shaft is connected between the third gear (730) and the counterweight arm (410), and a transmission belt (740) is connected between the second transmission shaft and the third transmission shaft in a transmission manner.

8. The multi-link transmission balanced type heavy-duty robot according to claim 2, characterized in that: linear drive device includes guide rail seat (810), third driving motor, lead screw (820) and movable nut, guide rail seat (810) vertical set up in on swivel mount (200), lead screw (820) rotate connect in guide rail seat (810), third driving motor drive connect in lead screw (820), movable nut pass through screw-thread fit connect in on lead screw (820), movable nut sliding connection in guide rail seat (810), movable nut can be in guide rail seat (810) the top-bottom slip, movable nut does vice (830) moves about.

Technical Field

The invention relates to a robot, in particular to a multi-connecting-rod transmission balanced type heavy-load robot.

Background

The heavy-duty robot is widely applied, and meanwhile, requirements of people on the structure and the performance of the heavy-duty robot are continuously improved, and the traditional heavy-duty robot has the characteristics of heavier self mass, larger volume and unbalanced structural layout, so that the unbalanced moment generated by the robot is larger, when the heavy-duty robot works, part of energy consumption of a driving motor needs to be used for compensating the unbalanced moment generated by the robot, the energy and cost waste is caused to a certain extent, and the structural performance of the robot is influenced.

Disclosure of Invention

The invention aims to provide a multi-connecting-rod transmission balanced type heavy-load robot, which is used for solving one or more technical problems in the prior art and at least provides a beneficial selection or creation condition.

The solution of the invention for solving the technical problem is as follows:

a multi-connecting-rod transmission balanced heavy-load robot comprises a base, wherein a first driving motor is arranged on the base, a rotary seat is connected to the base in a rotating mode, the first driving motor can drive the rotary seat to rotate, a rotary axis of the rotary seat extends in the vertical direction, a linear driving device is arranged on the rotary seat, the linear driving device is provided with a movable pair capable of moving up and down, a main arm and a counterweight arm are connected to the rotary seat in a rotating mode, a sub-arm is connected to the main arm in a rotating mode, a first connecting rod is connected to the counterweight arm in a rotating mode, the main arm and the counterweight arm are respectively located on two sides of the linear driving device, the rotary axis of the main arm is parallel to the rotary axis of the counterweight arm, the rotary axis of the sub-arm is parallel to the rotary axis of the first connecting rod, and a first transmission assembly, and a second transmission assembly is connected between the first connecting rod and the movable pair, a vertical surface passing through the center of the movable pair is used as a mirror image surface, and the first transmission assembly and the second transmission assembly are of mirror symmetry structures relative to the mirror image surface.

The technical scheme at least has the following beneficial effects: the swivel base can rotate on the base under the drive of a first driving motor, an actuating mechanism of peripheral equipment can be installed on the sub-arm, because the first transmission component and the second transmission component are of mirror symmetry structures, when the movable pair on the linear driving device moves up and down, the movable pair can drive the sub-arm through the first transmission component and the second transmission component respectively, the counterweight arm rotates synchronously, symmetrical motion tracks can be formed between the main arm and the counterweight arm, the counterweight arm can be used for compensating the moment generated by the dead weight of the main arm, the adverse effects of the unbalanced moment on the structure and the performance are effectively reduced, larger effective load can be realized under the condition that the power of the first driving motor is the same, and the linear driving device has good practical value.

As a further improvement of the above technical solution, an attitude adjusting assembly is disposed on the sub-arm, the attitude adjusting assembly includes a second driving motor, a first attitude driving plate, a first attitude driving rod, a second attitude driving plate, and a second attitude driving rod, the second driving motor is disposed on the main arm, an output end of the second driving motor is connected to the sub-arm and the first attitude driving plate in a driving manner, the second attitude driving plate is connected to one end of the sub-arm away from the main arm in a rotating manner, one end of the first attitude driving rod is connected to one side of the first attitude driving plate in a rotating manner, the other end of the first attitude driving rod is connected to the rotation seat in a rotating manner, one end of the second attitude driving rod is connected to the other side of the first attitude driving plate in a rotating manner, and the other end of the second attitude driving rod is connected to the second attitude driving plate in a rotating manner, the second posture transmission plate is provided with an actuator, and the rotation axis of the first posture transmission plate, the rotation axis of the first posture transmission rod, the rotation axis of the second posture transmission plate and the rotation axis of the second posture transmission rod are parallel to each other. The movable pair can make preliminary adjustment to the position of the sub-arm through the first transmission assembly, the second driving motor can be used for driving the sub-arm to rotate with the first posture transmission plate, the sub-arm can rotate to further adjust the position of the sub-arm, a quadrilateral transmission structure can be formed among the first posture transmission plate, the first posture transmission rod, the second posture transmission plate and the second posture transmission rod, and the orientation of an actuator on the second posture transmission plate can be adjusted.

As a further improvement of the above technical solution, the first transmission assembly includes a first power transmission rod, a second power transmission rod, and a seventh power transmission rod, one end of the first power transmission rod is rotatably connected to the swivel base, one end of the second power transmission rod is rotatably connected to one end of the sub-arm away from the second attitude transmission plate, the other end of the second power transmission rod is rotatably connected to the other end of the first power transmission rod, one end of the seventh power transmission rod is rotatably connected to the movable pair, the other end of the seventh power transmission rod is rotatably connected to the second power transmission rod, and a rotation axis of the first power transmission rod, a rotation axis of the second power transmission rod, and a rotation axis of the seventh power transmission rod are parallel to each other. A quadrilateral transmission structure can be formed among the sub-arm, the first power transmission rod, the second power transmission rod and the third power transmission rod, the sub-arm is driven to rotate through the quadrilateral transmission structure when the movable pair moves, the main arm connected with the sub-arm is also driven to rotate, and similarly, the movable pair drives the first connecting rod and the counterweight arm to rotate through the second transmission component.

As another improvement of the above technical solution, the first transmission assembly includes a first parallelogram transmission rod, a first power transmission rod and a second power transmission rod, one end of the first power transmission rod is rotatably connected to the swivel base, one end of the second power transmission rod is rotatably connected to one end of the sub-arm away from the second attitude transmission plate, the other end of the second power transmission rod is rotatably connected to the other end of the first power transmission rod, one diagonal point of the first parallelogram transmission rod is rotatably connected to the movable pair, the other diagonal point of the first parallelogram transmission rod is rotatably connected to the second power transmission rod, and a rotation axis of the first power transmission rod, a rotation axis of the second power transmission rod and a rotation axis of the first parallelogram transmission rod are parallel to each other. When the movable pair moves up and down, the force is transmitted to the second power transmission rod through the first parallelogram transmission rod, and the second power transmission rod drives the sub-arm and the main arm to rotate.

As another improvement of the above technical solution, a first turntable is rotatably connected to one side wall of the movable pair, a second turntable is rotatably connected to the other side wall of the movable pair, an anti-parallelogram transmission rod is disposed on the movable pair, one long side of the anti-parallelogram transmission rod is slidably connected to the first turntable, the other long side of the anti-parallelogram transmission rod is slidably connected to the second turntable, the first transmission assembly includes a first power transmission rod, a second power transmission rod, a third power transmission rod and a fourth power transmission rod, one end of the first power transmission rod is rotatably connected to the swivel base, one end of the second power transmission rod and one end of the third power transmission rod are respectively rotatably connected to one end of the sub-arm away from the second posture transmission plate, and the other end of the second power transmission rod is rotatably connected to the other end of the first power transmission rod, the other end of the third power transmission rod is rotatably connected to a diagonal point on one side of the anti-parallelogram transmission rod, one end of the fourth power transmission rod is rotatably connected to the second power transmission rod, the other end of the fourth power transmission rod is rotatably connected to a diagonal point under one side of the anti-parallelogram transmission rod, and the rotation axis of the first power transmission rod, the rotation axis of the second power transmission rod, the rotation axis of the third power transmission rod, the rotation axis of the fourth power transmission rod and the rotation axis of the anti-parallelogram transmission rod are parallel to each other. When the movable pair moves, the anti-parallelogram transmission rod can symmetrically transmit power to the first transmission assembly and the second transmission assembly, one side of the third power transmission rod, the fourth power transmission rod, the second power transmission rod and the anti-parallelogram transmission rod in the first transmission assembly form a quadrilateral power transmission structure, the power can be stably transmitted to the sub-arm, so that the main arm and the sub-arm rotate, and similarly, the second transmission assembly can stably transmit the power to the first connection rod and drive the counterweight arm to rotate.

As another improvement of the above technical solution, a second parallelogram transmission rod is disposed on the movable pair, the first transmission assembly includes a first power transmission rod, a second power transmission rod, a fifth power transmission rod and a sixth power transmission rod, one end of the first power transmission rod is rotatably connected to the swivel base, a top corner of the second parallelogram transmission rod is rotatably connected to the movable pair, one end of the fifth power transmission rod is rotatably connected to a bottom corner of the second parallelogram transmission rod, the other end of the second power transmission rod and the other end of the fifth power transmission rod are respectively rotatably connected to the other end of the first power transmission rod, one end of the sixth power transmission rod is rotatably connected to the second power transmission rod, and the other end of the sixth power transmission rod is rotatably connected to a corner on one side of the second parallelogram transmission rod, the rotation axis of the first power transmission rod, the rotation axis of the second power transmission rod, the rotation axis of the fifth power transmission rod, the rotation axis of the sixth power transmission rod and the rotation axis of the second parallel-four-side transmission rod are parallel to each other. One side edge of the second power transmission rod, one side edge of the fifth power transmission rod, one side edge of the sixth power transmission rod and one side edge of the second parallelogram transmission rod form a quadrilateral power transmission structure, namely three parallelograms are formed among the first transmission component, the second transmission component and the second parallelogram transmission rod, so that the power of the movable pair can be stably and symmetrically transmitted to the first connection rod and the sub-arm, and the balance weight arm and the main arm have the same motion track.

As a further improvement of the above technical solution, a first gear is disposed on the rotation seat opposite to the rotation axis of the main arm, a first transmission shaft is connected between the first gear and the main arm, a second transmission shaft is rotatably connected to the rotation seat, a second gear is disposed on the second transmission shaft, the second gear is engaged with the first gear, a third gear is disposed on the rotation seat opposite to the rotation axis of the counterweight arm, a third transmission shaft is connected between the third gear and the counterweight arm, and a transmission belt is connected between the second transmission shaft and the third transmission shaft in a transmission manner. When the main arm rotates, the counterweight arm can be driven to synchronously rotate through the power transmission of the first gear, the second gear, the transmission belt and the third gear, and the synchronization of the motion between the main arm and the counterweight arm is ensured.

As a further improvement of the above technical scheme, the linear driving device includes a guide rail seat, a third driving motor, a screw rod and a movable nut, the guide rail seat is vertically arranged on the rotary seat, the screw rod is rotationally connected in the guide rail seat, the third driving motor is driven to be connected in the screw rod, the movable nut is connected on the screw rod through a thread fit, the movable nut is slidably connected in the guide rail seat, the movable nut can slide up and down in the guide rail seat, and the movable nut is a movable pair. The movable nut can move up and down on the screw rod by utilizing the threaded fit of the movable nut and the screw rod and the sliding fit of the movable nut and the guide rail seat.

Drawings

In order to more clearly illustrate the technical solution in the embodiments of the present invention, the drawings used in the description of the embodiments will be briefly described below. It is clear that the described figures are only some embodiments of the invention, not all embodiments, and that a person skilled in the art can also derive other designs and figures from them without inventive effort.

FIG. 1 is an overall perspective view of an embodiment of the present invention;

FIG. 2 is a schematic overall view of a second embodiment of the present invention;

FIG. 3 is a schematic diagram of a third embodiment of the present invention;

FIG. 4 is a schematic view of a fourth first transmission assembly in accordance with an embodiment of the present invention;

fig. 5 is a schematic view of the linear driving apparatus of the present invention.

In the drawings: 100-base, 200-swivel base, 310-main arm, 320-sub arm, 410-counterweight arm, 420-first connecting rod, 510-second driving motor, 520-first attitude transmission plate, 530-first attitude transmission rod, 540-second attitude transmission plate, 550-second attitude transmission rod, 560-actuator, 610-first power transmission rod, 620-second power transmission rod, 630-seventh power transmission rod, 640-first parallelogram transmission rod, 651-antiparallel quadrilateral transmission rod, 652-third power transmission rod, 653-fourth power transmission rod, 661-second parallelogram transmission rod, 662-fifth power transmission rod, 663-sixth power transmission rod, 710-first gear, 720-second gear, 730-third gear, 740-a driving belt, 810-a guide rail seat, 820-a screw rod and 830-a movable pair.

Detailed Description

The conception, the specific structure, and the technical effects produced by the present invention will be clearly and completely described below in conjunction with the embodiments and the accompanying drawings to fully understand the objects, the features, and the effects of the present invention. It is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all embodiments, and those skilled in the art can obtain other embodiments without inventive effort based on the embodiments of the present invention, and all embodiments are within the protection scope of the present invention. In addition, all the connection relations mentioned herein do not mean that the components are directly connected, but mean that a better connection structure can be formed by adding or reducing connection accessories according to the specific implementation situation. All technical characteristics in the invention can be interactively combined on the premise of not conflicting with each other.

Referring to fig. 1, a multi-link transmission balanced heavy-duty robot includes a base 100, a first driving motor is disposed on the base 100, a rotation base 200 is rotatably connected to the base 100, the first driving motor can drive the rotation base 200 to rotate, a rotation axis of the rotation base 200 extends in a vertical direction, a linear driving device is disposed on the rotation base 200, the linear driving device has a movable pair 830 capable of moving up and down, a main arm 310 and a counterweight arm 410 are rotatably connected to the rotation base 200, a sub-arm 320 is rotatably connected to the main arm 310, a first link 420 is rotatably connected to the counterweight arm 410, the main arm 310 and the counterweight arm 410 are respectively disposed at two sides of the linear driving device, the rotation axis of the main arm 310 is parallel to the rotation axis of the counterweight arm 410, the rotation axis of the sub-arm 320, and the rotation axis of the first link 420, a first transmission assembly is connected between the sub-arm 320 and the movable pair 830, a second transmission assembly is connected between the first connecting rod 420 and the movable pair 830, a vertical plane passing through the center of the movable pair 830 is a mirror image plane, and the first transmission assembly and the second transmission assembly are in mirror symmetry structure with respect to the mirror image plane.

As can be seen from the above, the rotary seat 200 can be driven by the first driving motor to rotate on the base 100, and the sub-arm 320 can be provided with an external actuator, because the first transmission component and the second transmission component are mirror-symmetric structures, when the movable pair 830 on the linear driving device moves up and down, the movable pair 830 can drive the sub-arm 320 and the counterweight arm 410 to rotate synchronously through the first transmission component and the second transmission component, respectively, and the main arm 310 and the counterweight arm 410 can have symmetric movement tracks, so that the moment generated by the self weight of the main arm 310 can be compensated by using the counterweight arm 410, thereby effectively reducing the adverse effect of the unbalanced moment on the structure and performance, realizing a larger effective load under the condition of the same power of the first driving motor, and having a good practical value.

In order to adjust the position of the sub-arm 320 more precisely without affecting the position of the main arm 310, in this embodiment, a posture adjusting assembly is disposed on the sub-arm 320, the posture adjusting assembly includes a second driving motor 510, a first posture driving plate 520, a first posture driving rod 530, a second posture driving plate 540, and a second posture driving rod 550, the second driving motor 510 is disposed on the main arm 310, an output end of the second driving motor 510 is connected to the sub-arm 320 and the first posture driving plate 520 in a transmission manner, the second posture driving plate 540 is connected to one end of the sub-arm 320 far away from the main arm 310 in a rotation manner, one end of the first posture driving rod 530 is connected to one side of the first posture driving plate 520 in a rotation manner, the other end of the first posture driving rod 530 is connected to the rotation base 200 in a rotation manner, one end of the second posture driving rod 550 is connected to the other side of the first posture driving plate 520 in a rotation manner, the other end of the second posture transmission rod 550 is rotatably connected to the second posture transmission plate 540, the second posture transmission plate 540 is provided with an actuator 560, and the rotation axis of the first posture transmission plate 520, the rotation axis of the first posture transmission rod 530, the rotation axis of the second posture transmission plate 540, and the rotation axis of the second posture transmission rod 550 are parallel to each other. The movable pair 830 can primarily adjust the position of the sub-arm 320 through the first transmission assembly, the second driving motor 510 can drive the sub-arm 320 and the first posture transmission plate 520 to rotate, the sub-arm 320 can rotate to further adjust the position, a quadrilateral transmission structure can be formed among the first posture transmission plate 520, the first posture transmission rod 530, the second posture transmission plate 540 and the second posture transmission rod 550, and the orientation of the actuator 560 on the second posture transmission plate 540 can be adjusted.

As a first embodiment of the first transmission assembly, the first transmission assembly includes a first power transmission rod 610, a second power transmission rod 620 and a seventh power transmission rod 630, one end of the first power transmission rod 610 is rotatably connected to the swivel base 200, one end of the second power transmission rod 620 is rotatably connected to one end of the sub-arm 320 away from the second attitude transmission plate 540, the other end of the second power transmission rod 620 is rotatably connected to the other end of the first power transmission rod 610, one end of the seventh power transmission rod 630 is rotatably connected to the movable pair 830, the other end of the seventh power transmission rod 630 is rotatably connected to the second power transmission rod 620, and a rotation axis of the first power transmission rod 610, a rotation axis of the second power transmission rod 620 and a rotation axis of the seventh power transmission rod 630 are parallel to each other. A quadrilateral transmission structure can be formed among the sub-arm 320, the first power transmission rod 610, the second power transmission rod 620 and the third power transmission rod 652, when the sliding pair 830 moves, the sub-arm 320 is driven to rotate by the quadrilateral transmission structure, the main arm 310 connected with the sub-arm 320 is also driven to rotate, and similarly, the sliding pair 830 drives the first link 420 and the counterweight arm 410 to rotate by the second transmission component.

As shown in fig. 2, as a second embodiment of the first transmission assembly, the first transmission assembly includes a first parallelogram transmission rod 640, a first power transmission rod 610 and a second power transmission rod 620, one end of the first power transmission rod 610 is rotatably connected to the rotary base 200, one end of the second power transmission rod 620 is rotatably connected to one end of the sub-arm 320 far away from the second posture transmission plate 540, the other end of the second power transmission rod 620 is rotatably connected to the other end of the first power transmission rod 610, a pair of corner points of the first parallelogram driving rod 640 is rotatably connected to the movable pair 830, the other diagonal point of the first parallelogram link 640 is pivotally connected to the second power link 620, the rotational axis of the first power transmission rod 610, the rotational axis of the second power transmission rod 620 and the rotational axis of the first parallelogram transmission rod 640 are parallel to each other. When the sliding pair 830 moves up and down, the first parallelogram transmission rod 640 transmits the force to the second power transmission rod 620, and the second power transmission rod 620 drives the sub-arm 320 and the main arm 310 to rotate.

As shown in fig. 3, as a third embodiment of the first transmission assembly, a first rotary plate is rotatably connected to one sidewall of the movable pair 830, a second rotary plate is rotatably connected to the other sidewall of the movable pair 830, an anti-parallelogram transmission rod 651 is disposed on the movable pair 830, one long side of the anti-parallelogram transmission rod 651 is slidably connected to the first rotary plate, the other long side of the anti-parallelogram transmission rod 651 is slidably connected to the second rotary plate, the first transmission assembly includes a first power transmission rod 610, a second power transmission rod 620, a third power transmission rod 652 and a fourth power transmission rod 653, one end of the first power transmission rod 610 is rotatably connected to the rotary base 200, one end of the second power transmission rod 620 and one end of the third power transmission rod 652 are respectively rotatably connected to one end of the sub-arm 320 far from the second posture plate 540, the other end of the second power transmission rod 620 is rotatably connected to the other end of the first power transmission rod 610, the other end of the third power transmission rod 652 is rotatably connected to a diagonal point on one side of the anti-parallelogram transmission rod 651, one end of the fourth power transmission rod 653 is rotatably connected to the second power transmission rod 620, the other end of the fourth power transmission rod 653 is rotatably connected to a lower diagonal point on one side of the anti-parallelogram transmission rod 651, and the rotation axis of the first power transmission rod 610, the rotation axis of the second power transmission rod 620, the rotation axis of the third power transmission rod 652, the rotation axis of the fourth power transmission rod 653 and the rotation axis of the anti-parallelogram transmission rod 651 are parallel to each other. When the movable pair 830 moves, the anti-parallelogram transmission rod 651 can symmetrically transmit power to the first transmission assembly and the second transmission assembly, and one side of the third power transmission rod 652, the fourth power transmission rod 653, the second power transmission rod 620 and the anti-parallelogram transmission rod 651 in the first transmission assembly form a quadrilateral power transmission structure, so that the power can be stably transmitted to the sub-arm 320, and the main arm 310 and the sub-arm 320 rotate, and similarly, the second transmission assembly can stably transmit the power to the first link 420 and drive the counterweight arm 410 to rotate.

As shown in fig. 4, as a fourth embodiment of the first transmission assembly, a second parallelogram transmission rod 661 is disposed on the movable pair 830, the first transmission assembly includes a first power transmission rod 610, a second power transmission rod 620, a fifth power transmission rod 662 and a sixth power transmission rod 663, one end of the first power transmission rod 610 is rotatably connected to the swivel base 200, a top corner of the second parallelogram transmission rod 661 is rotatably connected to the movable pair 830, one end of the fifth power transmission rod 662 is rotatably connected to a bottom corner of the second parallelogram transmission rod 661, the other end of the second power transmission rod 620 and the other end of the fifth power transmission rod 662 are respectively rotatably connected to the other end of the first power transmission rod 610, one end of the sixth power transmission rod 663 is rotatably connected to the second power transmission rod 620, the other end of the sixth power transmission bar 663 is rotatably connected to a corner of one side of the second parallelogram transmission bar 661, and the rotation axis of the first power transmission bar 610, the rotation axis of the second power transmission bar 620, the rotation axis of the fifth power transmission bar 662, the rotation axis of the sixth power transmission bar 663 and the rotation axis of the second parallelogram transmission bar 661 are parallel to each other. One side of the second power transmission rod 620, the fifth power transmission rod 662, the sixth power transmission rod 663 and the second parallelogram transmission rod 661 form a quadrilateral power transmission structure, that is, three parallelograms are formed among the first transmission assembly, the second transmission assembly and the second parallelogram transmission rod 661, so that the power of the movable pair 830 can be stably and symmetrically transmitted to the first connection rod 420 and the sub-arm 320, and the balance weight arm 410 and the main arm 310 have the same motion track.

In order to further ensure the symmetry of the movement of the first transmission assembly and the second transmission assembly, a first gear 710 is disposed on the rotation base 200 opposite to the rotation axis of the main arm 310, a first transmission shaft is connected between the first gear 710 and the main arm 310, a second transmission shaft is rotatably connected to the rotation base 200, a second gear 720 is disposed on the second transmission shaft, the second gear 720 and the first gear 710 are engaged with each other, a third gear 730 is disposed on the rotation base 200 opposite to the rotation axis of the counterweight arm 410, a third transmission shaft is connected between the third gear 730 and the counterweight arm 410, and a transmission belt 740 is drivingly connected between the second transmission shaft and the third transmission shaft. When the main arm 310 rotates, the first gear 710, the second gear 720, the transmission belt 740, and the third gear 730 transmit power to drive the counterweight arm 410 to rotate synchronously, so as to ensure the synchronous motion between the main arm 310 and the counterweight arm 410.

As shown in fig. 5, as a further embodiment of the linear driving device, the linear driving device includes a guide rail seat 810, a third driving motor, a lead screw 820 and a movable nut, the guide rail seat 810 is vertically disposed on the rotation base 200, the lead screw 820 is rotatably connected in the guide rail seat 810, the third driving motor is drivingly connected to the lead screw 820, the movable nut is connected to the lead screw 820 through a screw-thread fit, the movable nut is slidably connected in the guide rail seat 810, the movable nut can slide up and down in the guide rail seat 810, and the movable nut is the movable pair 830. The movable nut can move up and down on the screw 820 by the threaded fit of the movable nut and the screw 820 and the sliding fit of the movable nut and the guide rail seat 810.

While the preferred embodiments of the present invention have been illustrated and described, it will be understood by those skilled in the art that the present invention is not limited to the details of the embodiments shown and described, but is capable of numerous equivalents and substitutions without departing from the spirit of the invention as set forth in the claims appended hereto.