A spatial parallelogram connecting rod structure, comprising:
- an installation housing, wherein the installation housing is provided with a connecting rod moving notch;
- and a bidirectional rotating seat capable of performing coaxial and non-interfering bidirectional rotating is fixed inside the housing;
- a first rotating body, wherein the first rotating body is rotatably connected to one side of the bidirectional rotating seat, and a rotating output end of the first rotating body is provided with a large arm oscillating bar extending from the moving notch;
- a second rotating body, wherein the second rotating body is rotatably connected to another side of the bidirectional rotating seat;
- a rotating output end of the second rotating body is provided with a turntable forearm, an edge of the turntable forearm is hinged with a forearm oscillating bar, and the forearm oscillating bar extends from the moving notch;
- an output control body, wherein the output control body is provided with two hinged points which are in the same direction, not coaxial and staggered;
- and the two hinged points are hinged with ends of the large arm oscillating bar and the forearm oscillating bar that extend from the installation housing respectively,
- wherein the first rotating body and the second rotating body realize input and transmission of rotating power through matching structures of motors and gear sets;
- central shafts of the rotating output ends of the first rotating body and the second rotating body are connected with two encoders fixed on both sides in the installation housing respectively;
- and the two encoders form a feedback closed loop with the two motors corresponding to both sides respectively,
- the second rotating body comprises a second motor, a first speed reducer, a second connecting shaft, a second gear, a first supporting wallboard, a first spring washer, a first transmission gear, a first duplex gear, a second transmission gear, and a third gear, wherein the second motor is coaxial with the first speed reducer, and the second connecting shaft is rotationally concentric with the turntable forearm, the second gear and the first speed reducer are tightly positioned and connected by screws, and fixedly connected with the first supporting wallboard by a first connecting screw, a third connecting screw and the first spring washer, the second gear is engaged with the first transmission gear, the first duplex gear and the second transmission gear successively, and finally engaged with the third gear, the third gear is fixedly connected with the turntable forearm through a second connecting screw, and the second connecting shaft is coaxially connected with a first encoder;
- and
- the first rotating body comprises a third motor, a second speed reducer, a third connecting shaft, a fourth gear, a second supporting wallboard, a third spring washer, a third transmission gear, a second duplex gear, a fourth transmission gear, and a fifth gear, wherein the third motor is coaxial with the second speed reducer, and the third connecting shaft is configured to rotate coaxially with the large arm oscillating bar, the fourth gear and the second speed reducer are tightly positioned and connected by screws, and fixedly connected with the second supporting wallboard by a sixth connecting screw and the third spring washer, the fourth gear is engaged with the third transmission gear, the second duplex gear and the fourth transmission gear successively, and finally engaged with the fifth gear, the fifth gear is connected with the large arm oscillating bar through a seventh connecting screw, and the third connecting shaft is coaxially, mechanically and fixedly connected with the second encoder and matched with the third motor.