Robot

Abstract

The present application discloses a manipulator for use in the field of equipment and instrument technology, comprising a connecting rod mechanism comprising two connecting rod assemblies of identical shape, the connecting rod assembly comprising a first gear connecting rod, a first connecting member, a first connecting rod, a second connecting member, a second connecting rod, a third connecting rod and a second gear connecting rod connected in sequence, and the first gear connecting rod is connected to the second gear connecting rod, and the second connecting rod is connected to the first gear connecting rod and the first connecting member through the third connecting rod; the two connecting rod assemblies are symmetrically arranged at both ends of a driving assembly, the opposite side of the second connecting members of the two connecting rod assemblies is set as a vertical plane, and the driving assembly is respectively connected to the first gear connecting rod and the second gear connecting rod. During the movement of the manipulator provided by the present application, the second gear connecting rod remains parallel to the second connecting rod, and the first connecting member remains parallel to the second connecting member, so that the second connecting member always remains vertical, and its design will not loosen during the movement, thereby improving the success rate of clamping.

Description

Technical Field

[0001] The present invention relates to the technical field of equipment and apparatus, and in particular to a manipulator. Background Art

[0002] A manipulator is an automated device that mimics certain movements and functions of the human hand and arm, allowing it to grasp, move objects, or manipulate tools according to a fixed program. It can replace strenuous human labor to achieve mechanization and automation of production, and can operate in hazardous environments to protect human safety. Consequently, it is widely used in sectors such as machinery manufacturing, metallurgy, electronics, light industry, and atomic energy. In related technologies, the posture and position of the distal fingertips of most manipulators are coupled. During movement in space, the orientation of the distal fingertips simultaneously changes, reducing the number of positions suitable for gripping and significantly limiting the manipulator's operational capabilities. Summary of the Invention

[0003] The present application aims to solve at least one of the technical problems existing in the prior art. To this end, the present application proposes a manipulator that can ensure that the fingertips at the end of the manipulator remain vertical during movement, thereby improving the success rate of gripping.

[0004] The present application provides a manipulator, comprising: a linkage mechanism, the linkage mechanism comprising two linkage assemblies of identical shape, the linkage assemblies comprising a first gear linkage, a first connecting member, a first connecting member, a second connecting member, a second connecting member, a third connecting member, and a second gear linkage, which are connected in sequence, wherein the first gear linkage is rotatably connected to the second gear linkage, and the second connecting member is rotatably connected to the first gear linkage and the first connecting member through the third connecting member, so that the third gear linkage is parallel to the second connecting member, and the first connecting member is parallel to the second connecting member;

[0005] A driving assembly, wherein the two connecting rod assemblies are symmetrically arranged at both ends of the driving assembly, and the opposite sides of the second connecting members of the two connecting rod assemblies are set as vertical planes. The driving assembly is respectively connected to the first gear connecting rod and the second gear connecting rod, and the driving assembly is used to drive the second connecting members of the two connecting rod assemblies to move closer to or away from each other.

[0006] The manipulator provided by the present application has at least the following beneficial effects: the first gear link and the second gear link are driven to rotate by the driving assembly, thereby driving the third link and the second link to rotate, and then driving the first connecting member, the first link, the second connecting member and the second connecting member to rotate. During the movement of the connecting rod assembly, the second gear link remains parallel to the second connecting rod, and the first connecting member remains parallel to the second connecting member, so that the second connecting member always remains vertical. In addition, the opposite side of the second connecting members of the two connecting rod assemblies is set as a vertical plane, and the second connecting member constitutes the fingertip of the manipulator. The fingertip design is more in line with the movement characteristics of the fast clamping operation, that is, it can adapt to objects to be clamped of different widths, and will not cause the clamping to loosen during the movement, thereby improving the success rate of clamping.

[0007] According to some embodiments of the present application, the connecting rod assembly also includes a first limiting shaft, two opposite first through holes are provided at one end of the first connecting member, the first limiting shaft is passed through the two first through holes, and the first connecting member is rotatably connected to the first gear connecting rod and the second connecting rod through the first limiting shaft.

[0008] According to some embodiments of the present application, a shell is further included, which includes a first panel and a second panel, the first panel and the second panel are respectively arranged on both sides of the drive assembly, a plurality of support columns are arranged between the first panel and the second panel, and the support columns are arranged on the moving path of the first gear connecting rod.

[0009] According to some embodiments of the present application, the shell also includes a fixed rod and a fourth connecting rod, one end of the fixed rod is fixedly connected to the first panel or the second panel, the other end of the fixed rod is rotatably connected to the fourth connecting rod, the fixed rod is rotatably connected to the first gear connecting rod and the second gear connecting rod, and each connecting rod assembly is correspondingly provided with two fixed rods and the fourth connecting rod, the two fourth connecting rods are distributed along the axial direction of the first limiting axis, and the end of the fourth connecting rod away from the fixed rod is rotatably connected to the first connecting member and the first connecting rod.

[0010] According to some embodiments of the present application, the length of the first limiting axis corresponding to each group of the connecting rod assemblies is greater than the distance between the two fourth connecting rods, and the first limiting axis is arranged on the moving path of the fourth connecting rod.

[0011] According to some embodiments of the present application, the connecting rod assembly also includes a second limiting shaft, two opposite second through holes are provided at one end of the second connecting member, the second limiting shaft is passed through the two second through holes, the second connecting member and the second connecting rod are rotatably connected through the second limiting shaft, and the connecting part between the second connecting member and the second connecting rod is located on the moving path of the first connecting rod.

[0012] According to some embodiments of the present application, the driving assembly includes a first driving member and a second driving member, the first driving member and the second driving member are respectively connected to the two connecting rod assemblies, and the driving directions of the first driving member and the second driving member are opposite.

[0013] According to some embodiments of the present application, the first driving member and the second driving member respectively include two driving motors, and the gear teeth of the two driving motors are respectively engaged with the gear teeth of the first gear connecting rod and the gear teeth of the second gear connecting rod.

[0014] According to some embodiments of the present application, an absolute encoder is provided at the end of the motor shaft of the drive motor.

[0015] According to some embodiments of the present application, a power assist mechanism is further included, which is movably disposed between the first driving member and the second driving member, and is used to fix the rotor position of the driving motor.

[0016] Additional aspects and advantages of the present application will be given in part in the description below, and in part will become obvious from the description below, or will be learned through practice of the present application. BRIEF DESCRIPTION OF THE DRAWINGS

[0017] Additional aspects and advantages of the present application will become apparent and readily understood from the following description of the embodiments with reference to the accompanying drawings, in which:

[0018] Figure 1 This is a schematic structural diagram of a connecting rod assembly of a manipulator according to an embodiment of the present application;

[0019] Figure 2 This is another structural schematic diagram of a connecting rod assembly of a manipulator according to an embodiment of the present application;

[0020] Figure 3 This is a schematic structural diagram of a manipulator according to an embodiment of the present application;

[0021] Figure 4 This is another structural schematic diagram of a manipulator according to an embodiment of the present application.

[0022] Reference numerals: connecting rod mechanism 100; connecting rod assembly 110; first gear connecting rod 111; first connecting member 112; first connecting rod 113; second connecting member 114; second connecting rod 115; third connecting rod 116; second gear connecting rod 117; first limiting shaft 121; second limiting shaft 131;

[0023] Driving assembly 200; first driving member 210; second driving member 220;

[0024] Housing 300; first panel 310; second panel 320; support column 330; fixing rod 340; fourth connecting rod 350;

[0025] Power assist mechanism 400. DETAILED DESCRIPTION

[0026] The following describes in detail embodiments of the present application. Examples of the embodiments are shown in the accompanying drawings, wherein the same or similar reference numerals throughout represent the same or similar elements or elements having the same or similar functions. The embodiments described below with reference to the accompanying drawings are exemplary and are only used to explain the present application and are not to be construed as limiting the present application.

[0027] In the description of this application, it should be understood that descriptions involving orientations, such as up, down, front, back, left, right, etc., indicating orientations or positional relationships, are based on the orientations or positional relationships shown in the accompanying drawings. They are only for the convenience of describing this application and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation. Therefore, they cannot be understood as limitations on this application.

[0028] In the description of this application, if there is a description of first or second, it is only for the purpose of distinguishing technical features, and cannot be understood as indicating or implying relative importance or implicitly indicating the number of the indicated technical features or implicitly indicating the order of the indicated technical features.

[0029] In the description of this application, unless otherwise clearly defined, terms such as setting, installing, and connecting should be understood in a broad sense, and technicians in the relevant technical field can reasonably determine the specific meanings of the above terms in this application based on the specific content of the technical solution.

[0030] A manipulator is an automatic device that mimics certain movements of the human hand and arm, used to grasp, move objects, or operate tools according to a fixed program. It can replace heavy human labor to achieve mechanization and automation of production, and can operate in hazardous environments to protect human safety. Therefore, it is widely used in machinery manufacturing, metallurgy, electronics, light industry, and atomic energy sectors.

[0031] In the existing technology, robots usually use a parallel five-bar linkage mechanism to control the fingertips to grasp and carry objects. However, the posture and position of the end fingertips of robots using a parallel five-bar linkage mechanism are coupled. During the movement in Cartesian space, the orientation posture of the end fingertips of the robot will change simultaneously, which reduces the number of positions suitable for clamping of the robot and greatly limits the operating ability of the robot hand.

[0032] Based on this, the present application provides a manipulator that can ensure that the fingertips at the end of the manipulator always remain vertical during movement, thereby improving the success rate of clamping.

[0033] The embodiments of the present application are further described below with reference to the accompanying drawings.

[0034] Reference Figures 1 to 4 , the present application provides a robot arm, including a connecting rod mechanism 100 and a driving assembly 200.

[0035] In which, the connecting rod mechanism 100 includes two connecting rod assemblies 110 of the same shape, and the connecting rod assembly 110 includes a first gear connecting rod 111, a first connecting member 112, a first connecting rod 113, a second connecting member 114, a second connecting rod 115, a third connecting rod 116 and a second gear connecting rod 117 connected in sequence, and the first gear connecting rod 111 is rotatably connected to the second gear connecting rod 117, and the second connecting rod 115 passes through the third connecting rod 116 and is rotatably connected to the first gear connecting rod 111 and the first connecting member 112, so that the second gear connecting rod 117 is parallel to the second connecting rod 115, and the first connecting member 112 is parallel to the second connecting member 114.

[0036] The two connecting rod assemblies 110 are symmetrically arranged at both ends of the driving assembly 200, and the opposite sides of the second connecting parts 114 of the two connecting rod assemblies 110 are set as vertical planes. The driving assembly 200 is connected to the first gear connecting rod 111 and the second gear connecting rod 117 respectively. The driving assembly 200 is used to drive the second connecting parts 114 of the two connecting rod assemblies 110 to move closer to or away from each other.

[0037] It should be noted that, in the present application, the driving assembly 200 drives the first gear link 111 and the second gear link 117 to rotate, thereby driving the third link 116 and the second link 115 to rotate, and then driving the first connecting member 112, the first connecting member 113, the second connecting member 114 and the second connecting member 115 to rotate. During the movement of the connecting rod assembly 110, the second gear link 117 remains parallel to the second connecting rod 115, and the first connecting member 112 remains parallel to the second connecting member 114, so that the second connecting member 114 always remains vertical. In addition, the opposite side of the second connecting members 114 of the two connecting rod assemblies 110 is set to a vertical plane, and the second connecting member 114 constitutes the fingertip of the manipulator. The fingertip design is more in line with the movement characteristics of the fast clamping operation, that is, it can adapt to objects to be clamped of different widths, and will not cause the clamping to loosen during the movement, thereby improving the clamping success rate.

[0038] It is understandable that, referring to Figure 1 and Figure 2 The connecting rod assembly 110 also includes a first limiting shaft 121. One end of the first connecting member 112 is provided with two opposite first through holes. The first limiting shaft 121 is passed through the two first through holes, and the first connecting member 112 is rotatably connected to the first gear connecting rod 111 and the second connecting rod 115 through the first limiting shaft 121.

[0039] It should be noted that one end where the first gear connecting rod 111 , the second connecting rod 115 and the first connecting member 112 are connected is disposed between the two first through holes.

[0040] It should be noted that the setting of the first limiting shaft 121 can simultaneously connect the first connecting member 112 with the first gear connecting rod 111 and the second connecting rod 115, and the setting of the first limiting shaft 121 facilitates the rotation between the first connecting member 112 and the first gear connecting rod 111 and the second connecting rod 115, thereby improving the movement speed of the manipulator.

[0041] It is understandable that, referring to Figure 3 and Figure 4 The manipulator also includes a shell 300, which includes a first panel 310 and a second panel 320. The first panel 310 and the second panel 320 are respectively arranged on both sides of the driving component 200. A plurality of support columns 330 are arranged between the first panel 310 and the second panel 320, and the support columns 330 are arranged on the moving path of the first gear connecting rod 111.

[0042] It should be noted that the shell 300 is used to fix the drive assembly 200, and the first panel 310 and the second panel 320 are respectively arranged on both sides of the drive assembly 200, that is, the drive assembly 200 is arranged in the same shell 300, which facilitates the subsequent management and application of the connecting rod assembly 110.

[0043] It should be noted that a plurality of support columns 330 are provided between the first panel 310 and the second panel 320 of the housing 300. The support columns 330 are arranged adjacent to the first gear link 111 and the second gear link 117, and the support columns 330 are arranged on the moving path of the first gear link 111. When the first gear link 111 rotates toward the support columns 330, the first gear link 111 will collide with the support columns 330, thereby limiting the rotation angle of the first gear link 111. When the first gear link 111 and the support columns 330 contact each other and become stuck, the torque of the motor in the drive assembly 200 continues to rise. It can be determined whether the joint zero position has been reached by measuring whether the motor torque exceeds a set threshold. Therefore, the collision contact between the first gear link 111 and the support columns 330 determines the joint zero position of the first gear link 111.

[0044] It is understandable that, referring to Figure 4The shell 300 also includes a fixed rod 340 and a fourth connecting rod 350, one end of the fixed rod 340 is fixedly connected to the first panel 310 or the second panel 320, and the other end of the fixed rod 340 is rotatably connected to the fourth connecting rod 350, and the fixed rod 340 is rotatably connected to the first gear connecting rod 111 and the second gear connecting rod 117. Each connecting rod assembly 110 is correspondingly provided with two fixed rods 340 and a fourth connecting rod 350, and the two fourth connecting rods 350 are distributed along the axial direction of the first limiting shaft 121, and the end of the fourth connecting rod 350 away from the fixed rod 340 is rotatably connected to the first connecting member 112 and the first connecting rod 113.

[0045] It should be noted that the housing 300 also includes a fixed rod 340 and a fourth connecting rod 350. Each connecting rod assembly 110 is correspondingly provided with two fixed rods 340 and a fourth connecting rod 350. One end of the fixed rod 340 is fixedly connected to the first panel 310 or the second panel 320, and the other end of the fixed rod 340 is rotatably connected to the fourth connecting rod 350. The fixed rod 340 is rotatably connected to the first gear connecting rod 111 and the second gear connecting rod 117. The fixed rod 340 can be used to support the first gear connecting rod 111 and the second gear connecting rod 117, reducing the shaking of the first gear connecting rod 111 and the second gear connecting rod 117 during the movement of the manipulator, thereby improving the stability of the manipulator movement. The end of the first connecting rod 113 away from the fixed rod 340 is rotatably connected to the first connecting member 112 and the first connecting rod 113. During the movement of the manipulator, the fourth connecting rod 350 moves with the movement of the first connecting rod 113. The provision of the fourth connecting rod 350 enhances the stability of the connecting rod assembly 110, making the movement of the manipulator faster and more stable.

[0046] It is understandable that the length of the first limiting shaft 121 corresponding to each group of connecting rod assemblies 110 is greater than the distance between the two fourth connecting rods 350 , and the first limiting shaft 121 is set on the moving path of the fourth connecting rod 350 .

[0047] It should be noted that during the movement of the manipulator, movement close to or even across the singular position of the connecting rod should be avoided. This can avoid serious consequences of the mechanical connecting rod and simplify the control algorithm. Since the length of the first limiting axis 121 corresponding to each group of connecting rod assemblies 110 is greater than the distance between the two fourth connecting rods 350, and the first limiting axis 121 is set on the moving path of the fourth connecting rod 350, when the fourth connecting rod 350 rotates in the direction of the first limiting axis 121, it will collide with the first limiting axis 121, limiting the rotation angle of the fourth connecting rod 350, further realizing the limitation of the connecting rod assembly 110, reducing the occurrence of singular configurations, and this setting forms a mechanical limit through the first limiting axis 121 and the fourth connecting rod 350, which can further simplify the control algorithm of the manipulator.

[0048] It is understandable that, referring to Figure 1 The connecting rod assembly 110 also includes a second limiting shaft 131. Two opposite second through holes are provided at one end of the second connecting member 114. The second limiting shaft 131 is passed through the two second through holes. The second connecting member 114 and the second connecting rod 115 are rotatably connected through the second limiting shaft 131. The connecting part between the second connecting member 114 and the second connecting rod 115 is located on the moving path of the first connecting rod 113.

[0049] It should be noted that the connection portion between the second connecting rod 115 and the second connecting member 114 is disposed between the two second through holes.

[0050] It should be noted that the second limiting shaft 131 connects the second connecting rod 115 and the second connecting member 114, and the second limiting shaft 131 facilitates the rotation between the second connecting rod 115 and the second connecting member 114, thereby improving the movement speed of the manipulator.

[0051] It should be noted that when the first connecting rod 113 moves in a direction close to the second connecting member 114, the first connecting rod 113 will collide with the connection portion between the second connecting member 114 and the second connecting rod 115, thereby limiting the rotation angle of the first connecting rod 113. When the first connecting rod 113 and the second limiting shaft 131 come into contact with each other and become stuck, the torque of the motor in the drive assembly 200 continues to rise, and it can be determined whether the joint zero position has been reached by measuring whether the motor torque exceeds a set threshold. Therefore, the collision contact between the first connecting rod 113 and the connection portion between the second connecting member 114 and the second connecting rod 115 determines the joint zero position of the second gear connecting rod 117.

[0052] It should be noted that the present application sets three mechanical limits, namely the first gear link 111 replacing the support column 330, the first limit shaft 121 and the fourth link 350, the first link 113 and the connection part of the second connecting member 114 and the second link 115. The present application reduces the occurrence of the phenomenon of the manipulator reaching a singular position through mechanical limits, so as to facilitate the motion trajectory planning of the subsequent control algorithm. At the same time, the mechanical limit also helps the calibration of the manipulator after power-on.

[0053] It is understandable that, referring to Figure 3 and Figure 4 The driving assembly 200 includes a first driving member 210 and a second driving member 220. The first driving member 210 and the second driving member 220 are respectively connected to the two connecting rod assemblies 110. The driving directions of the first driving member 210 and the second driving member 220 are opposite.

[0054] It should be noted that the two connecting rod assemblies 110 are respectively connected to the first driving member 210 and the second driving member 220, and the driving directions of the first driving member 210 and the second driving member 220 are opposite. Therefore, the first driving member 210 and the second driving member 220 can drive the two components to move in opposite directions, so that the ends of the two connecting rod assemblies 110 and the second connecting member 114 at the clamping position are close to or away from each other.

[0055] It is understandable that the first driving member 210 and the second driving member 220 respectively include two driving motors, and the gear teeth of the two driving motors are respectively engaged with the gear teeth of the first gear connecting rod 111 and the gear teeth of the second gear connecting rod 117.

[0056] It should be noted that the first drive assembly 200 and the second drive assembly 220 respectively include two drive motors, and the gear teeth of the two drive motors are respectively engaged with the gear teeth of the first gear link 111 and the gear teeth of the second gear link 117. This setting can control the rotation direction and rotation speed of the first gear link 111 and the second gear link 117 through different drive motors, thereby achieving precise control of the movement of the manipulator.

[0057] It can be understood that an absolute encoder is provided at the end of the motor shaft of the drive motor.

[0058] It's important to note that in quasi-direct-drive manipulators, the drive motor typically operates at relatively low speeds and high loads. In these situations, a sensorless drive is unsuitable for motor control. Instead, the motor requires an encoder and a sensored brushless motor driver. Commonly used encoders are incremental and absolute. Incremental encoders, such as Hall sensors, require position calibration each time the motor is powered on, making them inconvenient to use. Absolute encoders, on the other hand, acquire the absolute motor position immediately upon power-up. Therefore, absolute magnetic encoders are used to measure the absolute motor angle.

[0059] It should be noted that a magnet is installed at the end of the motor shaft of the drive motor, and the encoder is connected to the drive motor through the magnet. The magnetic encoder can sense the magnetic field of the magnet through the Hall device to obtain the current angle.

[0060] It should be noted that in a quasi-direct drive manipulator, the drive motor needs to be decelerated by the first gear link 111 and the second gear link 117. During the movement of the manipulator, the range of motion of the drive motor may exceed degrees or even multiple turns. This will cause the single-turn absolute encoder equipped with the motor to be unable to cover the entire range of joint motion. Therefore, if a multi-turn absolute encoder is used, it needs to be equipped with an additional battery so that the manipulator can have a memory function and remember the previous zero point position after power failure.

[0061] It should be noted that when the present application adopts a single-turn absolute encoder, the setting of the mechanical limit in the present application adds a mechanical zero point, which can achieve precise control of the movement of the manipulator.

[0062] It is understandable that, referring to Figure 3 and Figure 4 The manipulator further includes a power-assisting mechanism 400 , which is movably disposed between the first driving member 210 and the second driving member 220 , and is used to fix the rotor position of the driving motor.

[0063] It should be noted that after the second connecting member 114 of the two connecting rod assemblies 110 of the manipulator clamps the object, the drive motor needs to be continuously powered on to maintain the holding force on the object. The power assist mechanism 400 can fix the transposed position of the drive motor so that the rotor position does not change and the clamping posture of the object is maintained. The rotor position of the drive motor is continuously monitored to indicate the clamping effect of the two connecting rod assemblies 110 on the object. When the rotor position does not change, the power supply to the drive motor is gradually reduced until it reaches zero, so that the drive motor is powered off, and the rotor position is supported by the power assist mechanism to maintain the original clamping force on the object, thereby ensuring that the object does not fall and reducing the occurrence of overheating problems caused by continuous power supply to the drive motor.

[0064] It should be noted that, in the present application, the driving assembly 200 drives the first gear link 111 and the second gear link 117 to rotate, thereby driving the third link 116 and the second link 115 to rotate, and then driving the first connecting member 112, the first connecting member 113, the second connecting member 114 and the second connecting member 115 to rotate. During the movement of the connecting rod assembly 110, the second gear link 117 remains parallel to the second connecting rod 115, and the first connecting member 112 remains parallel to the second connecting member 114, so that the second connecting member 114 always remains vertical. In addition, the opposite side of the second connecting members 114 of the two connecting rod assemblies 110 is set to a vertical plane, and the second connecting member 114 constitutes the fingertip of the manipulator. The fingertip design is more in line with the movement characteristics of the fast clamping operation, that is, it can adapt to objects to be clamped of different widths, and will not cause the clamping to loosen during the movement, thereby improving the clamping success rate. In addition, the present application is provided with multiple mechanical limits, which can reduce the occurrence of the problem of the manipulator reaching a singular position, facilitate the motion trajectory planning of the subsequent control algorithm, and the mechanical limits also help with the calibration of the manipulator after power-on.

[0065] The embodiments of the present application are described in detail above in conjunction with the accompanying drawings, but the present application is not limited to the above embodiments. Various changes can be made within the scope of knowledge possessed by ordinary technicians in the relevant technical field without departing from the purpose of the present application.

Claims

1. A robot, characterized in that: include: A connecting rod mechanism, the connecting rod mechanism comprising two connecting rod assemblies of identical shape, the connecting rod assembly comprising a first gear connecting rod, a first connecting member, a first connecting rod, a second connecting member, a second connecting rod, a third connecting rod, and a second gear connecting rod connected in sequence, wherein the first gear connecting rod is rotatably connected to the second gear connecting rod, and the second connecting rod is rotatably connected to the first gear connecting rod and the first connecting member through the third connecting rod, so that during movement of the connecting rod assembly, the second gear connecting rod is parallel to the second connecting rod, and the first connecting member is parallel to the second connecting member; A driving assembly, wherein the two connecting rod assemblies are symmetrically arranged at both ends of the driving assembly, and the opposite sides of the second connecting members of the two connecting rod assemblies are set as vertical planes. The driving assembly is respectively connected to the first gear connecting rod and the second gear connecting rod, and the driving assembly is used to drive the second connecting members of the two connecting rod assemblies to move closer to or away from each other.

2. The manipulator according to claim 1, characterized in that: The connecting rod assembly also includes a first limiting shaft, one end of the first connecting member is provided with two opposite first through holes, the first limiting shaft is passed through the two first through holes, and the first connecting member is rotatably connected to the first gear connecting rod and the second connecting rod through the first limiting shaft.

3. The manipulator according to claim 2, characterized in that: It also includes a shell, which includes a first panel and a second panel. The first panel and the second panel are respectively arranged on both sides of the drive component. A plurality of support columns are arranged between the first panel and the second panel, and the support columns are arranged on the moving path of the first gear connecting rod.

4. The manipulator according to claim 3, characterized in that: The shell also includes a fixed rod and a fourth connecting rod, one end of the fixed rod is fixedly connected to the first panel or the second panel, the other end of the fixed rod is rotatably connected to the fourth connecting rod, the fixed rod is rotatably connected to the first gear connecting rod and the second gear connecting rod, and each connecting rod assembly is correspondingly provided with two fixed rods and the fourth connecting rods, the two fourth connecting rods are distributed along the axial direction of the first limiting axis, and the end of the fourth connecting rod away from the fixed rod is rotatably connected to the first connecting member and the first connecting rod.

5. The robot according to claim 4, characterized in that: The length of the first limiting shaft corresponding to each group of the connecting rod assemblies is greater than the distance between the two fourth connecting rods, and the first limiting shaft is arranged on the moving path of the fourth connecting rod.

6. The robot according to claim 1, characterized in that: The connecting rod assembly also includes a second limiting shaft, two opposite second through holes are provided at one end of the second connecting member, the second limiting shaft is passed through the two second through holes, the second connecting member and the second connecting rod are rotatably connected through the second limiting shaft, and the connecting part between the second connecting member and the second connecting rod is located on the moving path of the first connecting rod.

7. The manipulator according to any one of claims 1 to 6, characterized in that: The driving assembly includes a first driving member and a second driving member. The first driving member and the second driving member are respectively connected to the two connecting rod assemblies. The driving directions of the first driving member and the second driving member are opposite.

8. The robot according to claim 7, characterized in that: The first driving member and the second driving member respectively include two driving motors, and the gear teeth of the two driving motors are respectively engaged with the gear teeth of the first gear connecting rod and the gear teeth of the second gear connecting rod.

9. The robot according to claim 8, characterized in that: An absolute encoder is provided at the end of the motor shaft of the drive motor.

10. The robot according to claim 8, characterized in that: It also includes a power-assisting mechanism, which is movably arranged between the first driving member and the second driving member, and is used to fix the rotor position of the driving motor.

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