The invention provides a mechanical arm, automatic charging equipment and a control method of the automatic charging equipment. The double-shaft parallel mechanism can slide on the translation mechanism in the first direction; the first sliding table assembly and the second sliding table assembly can slide in the second direction; the one or more first supporting mechanisms are in running fit with the first sliding table assembly and the movable platform assembly; one end of each second supporting mechanism is rotationally matched with the second sliding table assembly, the other end of each second supporting mechanism is rotationally matched with the movable platform assembly or the first supporting mechanism, and when the hinge point distances of the supporting mechanisms are the same, a parallelogram mechanism can be formed; the axis directions of rotating shafts of the supporting mechanisms are inconsistent so that the movable platform assembly can do pure translational motion in the space. The three-degree-of-freedom motion of the movable platform assembly in the space is achieved in the mode that one linear shaft is connected in series and the two linear shafts are connected in parallel, and the whole device is simple in structure, low in cost and small in occupied space.
本发明提供一种机械臂、自动充电设备和自动充电设备的控制方法,所述机械臂包括:平移机构;双轴并联机构,能够在平移机构上沿第一方向滑动;第一和第二滑台组件,能够沿第二方向滑动;一个或多个第一支撑机构,与第一滑台组件和动平台组件形成转动配合;一个或多个第二支撑机构,一端与第二滑台组件转动配合,另一端与动平台组件转动配合或与第一支撑机构转动配合,支撑机构的铰点间距相同时可组成平行四边形机构,若无法组成平行四边形机构时,支撑机构的转动轴轴线方向不一致以使动平台组件沿空间做纯平移运动。本发明采用一直线轴串联、两直线轴并联的方式实现动平台组件在空间中三个自由度的运动,且整个装置结构简单、成本低、占地空间小。
Mechanical arm, automatic charging equipment and control method of automatic charging equipment
机械臂、自动充电设备和自动充电设备的控制方法
2024-09-27
Patent
Electronic Resource
Chinese
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