CN105459105A - Seven-axis five-power robot applying parallelogram principle - Google Patents
Seven-axis five-power robot applying parallelogram principle Download PDFInfo
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- CN105459105A CN105459105A CN201610021825.0A CN201610021825A CN105459105A CN 105459105 A CN105459105 A CN 105459105A CN 201610021825 A CN201610021825 A CN 201610021825A CN 105459105 A CN105459105 A CN 105459105A
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/08—Programme-controlled manipulators characterised by modular constructions
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
- B25J19/0075—Means for protecting the manipulator from its environment or vice versa
- B25J19/0083—Means for protecting the manipulator from its environment or vice versa using gaiters
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/10—Programme-controlled manipulators characterised by positioning means for manipulator elements
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/10—Programme-controlled manipulators characterised by positioning means for manipulator elements
- B25J9/106—Programme-controlled manipulators characterised by positioning means for manipulator elements with articulated links
- B25J9/1065—Programme-controlled manipulators characterised by positioning means for manipulator elements with articulated links with parallelograms
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- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Manipulator (AREA)
Abstract
The invention provides a seven-axis five-power robot applying a parallelogram principle, which has the advantages that the stability in taking a workpiece is improved, the control range of a gripper is enlarged and time and labor are saved in fine adjustment of the gripper. The robot comprises a base, wherein a horizontal rotatable first shaft is arranged on the base; a first shaft servomotor for driving the first shaft to rotate is arranged at one end of the first shaft; the other end of the first shaft is connected with a swinging arm component; the first shaft servomotor drives the first shaft to rotate so as to drive the swinging arm component to circumferentially swing around the first shaft; the free end of the swinging arm component is connected with the gripper for gripping the workpiece; and the swinging arm component comprises a first swinging arm component and a second swinging arm component which are mutually hinged together end to end and form two parallelogram hinging structures. The robot is characterized in that the gripper comprises a transverse driving member, a vertical driving member and end grippers.
Description
Technical field
The present invention relates to the technical field of industrial robot, be specially a kind of seven axle five power-driven robots applying parallelogram principle.
Background technology
Industrial robot automatic production line complete set of equipments has become main flow robot development prospect and the developing direction in future of automated arm.The industries such as automobile industry, electronic enterprises, engineering machinery use industrial robot automatic production line in a large number, to ensure product quality, enhance productivity, avoid a large amount of industrial accidents simultaneously.
At present, single armed swinging mechanical hand on the market, because its mobile alignment is circular arc, handgrip sucker is difficult to the rectilinear movement realizing level, in order to allow handgrip sucker maintenance level, often needing the auxiliary of actuating unit, so also can improve manufacturing cost accordingly.And the transmission arm of existing manipulator is commonly single armed, its stability is lower, and manipulator easily produces and rocks in moving process, has a strong impact on the control accuracy of manipulator, is difficult to the accuracy requirement reaching people; And the handgrip of existing robot generally only can play the effect of holding workpiece, the adjustment of direction and position all needs rocking arm to operate, and make the narrow range that the handgrip of whole robot can manipulate, and the intense adjustment of handgrip position is wasted time and energy.
Summary of the invention
For the problems referred to above, the invention provides a kind of seven axle five power-driven robots applying parallelogram principle, it is by being hinged two groups of Swing Arm assembly head and the tail, and the articulated structure of each group formation two parallelogram, and then ensure that robot can ensure that in running the workpiece that handgrip captures is in level all the time, improve the stability that workpiece is taken, and make the manipulated scope of handgrip large, the intense adjustment save trouble and labor of handgrip.
A kind of seven axle five power-driven robots applying parallelogram principle, its technical scheme is such: it comprises base, rotating first axle of level that described base is provided with, one end of described first axle is provided with the first axle servomotor driving described first axle to rotate, the other end of described first axle is connected with Swing Arm assembly, described first axle servomotor rotates by driving described first axle and then drives described Swing Arm assembly around the circuit oscillation of described first axle, the free end of described Swing Arm assembly is connected with the handgrip for grabbing workpiece, described Swing Arm assembly comprises be hinged the first Swing Arm assembly together and the second Swing Arm assembly, two groups of Swing Arm assembly head and the tail are hinged, and the articulated structure of each group formation two parallelogram, it is characterized in that: described handgrip comprises horizontal driver part, Vertical dimension driver part, terminal handgrip, described horizontal driver part comprises horizontal cross support, horizontal cross Power Component, described Vertical dimension driver part comprises Vertical dimension Power Component, Vertical dimension support, the free end of described Swing Arm assembly is fastenedly connected described horizontal cross support, the 6th axle horizontal cross track is provided with in described horizontal cross support, described Vertical dimension bracket clamp is loaded on described 6th axle horizontal cross track, the output of described horizontal cross Power Component connects described Vertical dimension support, described Vertical dimension support can move back and forth along described 6th axle horizontal cross track, the 7th axle Vertical dimension track is provided with in described Vertical dimension support, Vertical dimension slide block is flush-mounted in described 7th axle Vertical dimension track, described Vertical dimension slide block connects described terminal handgrip by connecting rod, the output of described Vertical dimension Power Component connects described Vertical dimension slide block.
It is further characterized in that: described Swing Arm assembly comprises be hinged the first Swing Arm assembly together and the second Swing Arm assembly, described first Swing Arm assembly comprises the second axle being hinged on described first shaft end, the side of described second axle is provided with two first control levers of assisting described second axle to swing, two described first control levers and described second axle form the articulated structure of parallelogram, also form the articulated structure of parallelogram between two described first control levers; Described second Swing Arm assembly comprises the 3rd axle and two the second control levers, one end of described 3rd axle and one end away from described first axle of described second axle hinged, the other end and the described handgrip of described 3rd axle are hinged, two described second control levers are hinged on the end of two described first control levers respectively, two described second control levers form hinged parallelogram sturcutre, also form hinged parallelogram sturcutre between two described second control levers and described 3rd axle; Be provided with the second axle work module between described second axle and described first axle, described second axle work module rotates for driving the described second axial close or away from described work pieces process position direction; The 3rd axle work module is provided with between described 3rd axle and described second axle, described 3rd axle work module rotates for driving the described 3rd axial described close or away from described work pieces process position direction, the end, one end away from described second axle of described 3rd axle is hinged with the 4th axle, 4th axle is provided with rotating 5th axle, the end, one end that the level of described 5th axle extends towards described second control lever side is connected with parallel dead plate, and the end of described parallel dead plate and described second control lever is articulated and connected; One end away from described second control lever of described 5th axle is passed described 4th axle and is fixedly connected with described handgrip;
Described horizontal cross Power Component comprises flexible axle servomotor, motor output flexible shaft, active synchronization is taken turns, driven synchronizing wheel, Timing Belt, described flexible axle servomotor connects described active synchronization wheel by motor output flexible shaft, described active synchronization wheel, connected by described Timing Belt between driven synchronizing wheel, described Timing Belt is positioned at the horizontal mounting groove of described horizontal cross support, described active synchronization wheel, driven synchronizing wheel is arranged in the end positions of described horizontal mounting groove respectively, the end face outside of described Timing Belt is fastenedly connected with Vertical dimension support, described Vertical dimension support is installed in the described 6th axle horizontal cross track of evagination simultaneously, described flexible axle driven by servomotor active synchronization wheel rotates, and then drive Timing Belt to drive Vertical dimension support to move along the 6th axle horizontal cross track horizontal cross, terminal handgrip can be moved in horizontal cross, guarantee that the working range of whole robot is wider,
Be provided with lateral balance block in described horizontal cross support, guarantee stablizing when total works;
Described lateral balance block is flush-mounted in the internal cavity of described horizontal cross support, and described lateral balance block is fastenedly connected the 6th axle horizontal cross track by balance weight connecting plate, makes the 6th axle horizontal cross orbital arrangement reasonable, and Stability Analysis of Structures;
Described flexible axle servomotor is installed in the 3rd axle, and the length of described motor output flexible shaft is guaranteed the normal work of robot and can not be wound around;
Described Vertical dimension Power Component is specially Vertical dimension cylinder, described Vertical dimension cylinder is installed in described Vertical dimension support, the piston rod of described Vertical dimension cylinder connects described Vertical dimension slide block, Vertical dimension slide block moves up and down along the 7th axle Vertical dimension track under the drive of Vertical dimension cylinder, makes terminal handgrip can carry out intense adjustment in the vertical direction;
The position being away from the second axle of described first axle is provided with gravitational equilibrium block, when described first axle does not rotate, the center of gravity of described gravitational equilibrium block and the plane orthogonal at described first axle axis place, in horizontal plane, can make driving Dynamic response reduce, to reduce power consumption;
Be provided with damping braking mechanism at described first axle away from the second the tip of the axis, the damping force that they can be different according to the acquiring size of corner, to reduce the movement inertia of the first axle;
Described second axle work module comprises the second axle work push rod, one end of described second axle work push rod is hinged on described second axle, the other end is hinged on the first slide block, described first slide block is arranged in the guide rail of the second axle work module, and described first slide block does linear reciprocal movement by the second axle work module driven by servomotor along the axis direction of described first axle;
Described first slide block is connected by the tail end of damping spring group with described second axle work module, thus to reduce gravity when the second axle moves to-45 ° ~-80 ° and movement inertia, and then reducing the driving force of the second axle work module, economize energy, makes operation energy consumption little;
Described 3rd axle work module comprises the 3rd axle work push rod, one end of described 3rd axle work push rod is hinged on described 3rd axle, the other end is hinged on the second slide block, described second slide block is arranged in the guide rail of the 3rd axle work module, and described second slide block does linear reciprocal movement by the 3rd axle work module driven by servomotor along the axis direction of described 3rd axle;
The inside upper part of described second axle is provided with damping spring plate, described damping spring plate is positioned at the second axle angulation at the 3rd axle and is-45 ° ~-90 ° and works, different dampings is produced when the 3rd axle is positioned at different angles relative to the second axle, to reduce gravity and the movement inertia of the 3rd axle, reduce the driving force of the 3rd axle work module,, economize energy, makes operation energy consumption little;
Described first axle is by two wall-panels supports be vertically set on described base, and two described wallboard parallel interval are arranged, and described gravitational equilibrium block is arranged on the centre of two described wallboards.
The axis of described second axle work push rod, the described axis of the 3rd axle work push rod and the axis of described first axle are all positioned at same plane;
The protrusion side being positioned at described first axle of described base is fastened with parallelogram supporting seat, first connecting axle is supported on the upper surface of described parallelogram supporting base, the bottom of two parallel described first control levers is articulated with described first connecting axle respectively, the articulated position of described 3rd axle and described second axle is fitted with jointed shaft, described jointed shaft is provided with the center nose bar of lordosis, described center nose bar, the front end of described center nose bar is provided with connection pedestal, described connection pedestal, center nose bar, jointed shaft three forms an entirety, the upper end thereof of two parallel described first control levers connects described connection pedestal, the lower end of two parallel described second control levers is articulated and connected described connection pedestal,
The front end of described connection pedestal is respectively arranged with two parallel connecting axles, it is respectively: be positioned at the second connecting axle of bottom, superposed 3rd connecting axle, the upper end of two parallel described first control levers is articulated and connected described second connecting axle respectively, and the lower end of two parallel described second control levers is articulated and connected described 3rd connecting axle respectively.
After adopting technique scheme, it is by being hinged two groups of Swing Arm assembly head and the tail, and the articulated structure of each group formation two parallelogram, and then ensure that robot can ensure that in running the workpiece that handgrip captures is in level all the time, improve the stability that workpiece is taken, and without the need to arranging the special Power Drive Unit for driving workpiece level as conventional machines people, therefore, it is possible to economize energy, and overall structure is simple, cost is lower; And possessed horizontal cross locomotive function due to handgrip and Vertical dimension moves up and down function simultaneously, make the manipulated scope of handgrip large, the intense adjustment save trouble and labor of handgrip; Whole robot has five power, comprises horizontal cross power, the Vertical dimension power of the power of two groups of Swing Arm assemblies, the first axle servomotor and handgrip, greatly improve handgrip flexibility and can opereating specification.
Accompanying drawing explanation
Fig. 1 is front view structural representation of the present invention;
Fig. 2 is stereogram structural representation of the present invention (analysing and observe base 1);
Title in figure corresponding to sequence number is as follows:
Base 1, gravitational equilibrium block 2, first axle 3, second axle work module 4, first axle servomotor 5, first axle decelerator 6, first slide block 7, second axle work module servomotor 8, dust cover 9, second axle work push rod 10, handgrip 12, parallel dead plate 14, 5th axle 15, 4th axle 16, second control lever 18, 3rd axle 19, horizontal cross support 20, first control lever 21, second axle 22, 3rd axle work push rod 23, second slide block 24, 3rd axle work module 25, 3rd axle work module servomotor 26, Vertical dimension support 29, 6th axle horizontal cross track 30, 7th axle Vertical dimension track 31, Vertical dimension slide block 32, connecting rod 33, terminal handgrip 34, flexible axle servomotor 35, motor output flexible shaft 36, active synchronization wheel 37, driven synchronizing wheel 38, Timing Belt 39, horizontal mounting groove 40, lateral balance block 41, internal cavity 42, balance weight connecting plate 43, Vertical dimension cylinder 44, damping braking mechanism 45, damping spring group 46, damping spring plate 47, parallelogram supporting seat 48, first connecting axle 49, jointed shaft 50, center nose bar 51, connect pedestal 52, second connecting axle 53, 3rd connecting axle 54.
Detailed description of the invention
Below in conjunction with drawings and Examples, the present invention is further described, and in figure, the direction of arrow is the rotation direction of corresponding component.
A kind of seven axle five power-driven robots applying parallelogram principle, see Fig. 1, Fig. 2: it comprises base 1, rotating first axle 3 of level that base 1 is provided with, one end of first axle 3 is provided with the first axle servomotor 5 of driving first axle 3 rotation, the other end of the first axle is connected with Swing Arm assembly, first axle servomotor 5 is rotated by driving first axle 3 and then drives Swing Arm assembly around the circuit oscillation of the first axle 3, the free end of Swing Arm assembly is connected with the handgrip for grabbing workpiece, Swing Arm assembly comprises be hinged the first Swing Arm assembly together and the second Swing Arm assembly, first Swing Arm assembly comprises the second axle 22 being hinged on the first shaft end, the side of the second axle 22 is provided with two the first control levers 21 of assistance second axle swing, two the first control levers 21 and the second axle 22 form the articulated structure of parallelogram, also the articulated structure of parallelogram is formed between two the first control levers 21, second Swing Arm assembly comprises the 3rd axle 19 and two the second control levers 18, one end of 3rd axle 19 and one end away from the first axle 3 of the second axle 22 hinged, the other end and the handgrip of the 3rd axle 19 are hinged, two the second control levers 18 are hinged on the end of two the first control levers 21 respectively, two the second control levers 18 form hinged parallelogram sturcutre, also form hinged parallelogram sturcutre between two the second control levers 18 and the 3rd axle 19, be provided with the second axle work module 4, second axle work module 4 between second axle 22 and the first axle 3 to rotate to close or away from work pieces process position direction for driving the second axle 22, the 3rd axle work module 25 is provided with between 3rd axle 19 and the second axle 22,3rd axle work module 25 rotates to close or away from work pieces process position direction for driving the 3rd axle 19, the end, one end away from the second axle 22 of the 3rd axle 19 is hinged with the 4th axle 16,4th axle 16 can be provided with rotating 5th axle 15, the end, one end that the level of the 5th axle 15 extends towards the second control lever 18 side is connected with parallel dead plate 14, and the end of parallel dead plate 14 and the second control lever 18 is articulated and connected, one end away from the second control lever 18 of 5th axle 15 is passed the 4th axle 16 and is fixedly connected with handgrip 12.
The handgrip 12 of robot comprises horizontal driver part, Vertical dimension driver part, terminal handgrip 34, horizontal driver part comprises horizontal cross support 20, horizontal cross Power Component, Vertical dimension driver part comprises Vertical dimension Power Component, Vertical dimension support 29, 5th axle 15 is fastenedly connected horizontal cross support 20 through after the 4th axle 16, the 6th axle horizontal cross track 30 is provided with in horizontal cross support 20, Vertical dimension support 29 is installed in the 6th axle horizontal cross track 30, the output of horizontal cross Power Component connects Vertical dimension support 29, Vertical dimension support 29 can move back and forth along the 6th axle horizontal cross track 30, the 7th axle Vertical dimension track 31 is provided with in Vertical dimension support 29, Vertical dimension slide block 32 is flush-mounted in the 7th axle Vertical dimension track 31, Vertical dimension slide block 32 connects terminal handgrip 34 by connecting rod 33, the output of Vertical dimension Power Component connects Vertical dimension slide block 32,
The length of the 6th axle horizontal cross track 30 is 1500mm;
Horizontal cross Power Component comprises flexible axle servomotor 35, motor output flexible shaft 36, active synchronization wheel 37, driven synchronizing wheel 38, Timing Belt 39, flexible axle servomotor 35 connects active synchronization wheel 37 by motor output flexible shaft 36, active synchronization wheel 37, connected by Timing Belt 39 between driven synchronizing wheel 38, Timing Belt 39 is positioned at the horizontal mounting groove 40 of horizontal cross support 20, active synchronization wheel 37, driven synchronizing wheel 38 is arranged in the end positions of horizontal mounting groove 40 respectively, the end face outside of Timing Belt 39 is fastenedly connected with Vertical dimension support 29, Vertical dimension support 29 is installed in the 6th axle horizontal cross track 30 of evagination simultaneously, flexible axle servomotor 35 drives active synchronization to take turns 37 and rotates, and then drive Timing Belt 38 to drive Vertical dimension support 29 to move along the 6th axle horizontal cross track 30 horizontal cross, terminal handgrip 34 can be moved in horizontal cross, guarantee that the working range of whole robot is wider,
Be provided with lateral balance block 41 in horizontal cross support 20, guarantee stablizing when total works;
Lateral balance block 41 is flush-mounted in the internal cavity 42 of horizontal cross support 20, and lateral balance block 41 is fastenedly connected the 6th axle horizontal cross track 30 by balance weight connecting plate 43, makes the 6th axle horizontal cross track 30 connection and reasonable arrangement, and Stability Analysis of Structures;
Flexible axle servomotor 35 is installed in the 3rd axle 19, and the length of motor output flexible shaft 36 is guaranteed the normal work of robot and can not be wound around;
Vertical dimension Power Component is specially Vertical dimension cylinder 44, Vertical dimension cylinder 44 is installed in the upper surface of Vertical dimension support 29, the piston-rod lower end of Vertical dimension cylinder 44 connects Vertical dimension slide block 32, Vertical dimension slide block 32 moves up and down along the 7th axle Vertical dimension track 31 under the drive of Vertical dimension cylinder 44, make terminal handgrip 34 can carry out intense adjustment in the vertical direction, robot terminal handgrip 34 moves up and down 0 ~ 100mm, be convenient to robot grabbing, knock off part time do not need to employ each servomotor power of robot, to reduce the power consumption of this robot when normally working and the service life of each motor of prolongation,
The position being away from the second axle 22 of the first axle 3 is provided with gravitational equilibrium block 2, first axle 3 when not rotating, and the center of gravity of gravitational equilibrium block 2 and the plane orthogonal at the first axle 3 axis place, in horizontal plane, can make driving Dynamic response reduce, to reduce power consumption;
Be provided with damping braking mechanism 45 at the first axle 3 away from the end of the second axle 22, the damping force that they can be different according to the acquiring size of corner, to reduce the movement inertia of the first axle;
Second axle work module 4 comprises the second axle work push rod 10, second axle work push rod 10 one end is hinged on the second axle 22, the other end is hinged on the first slide block 7, first slide block 7 is arranged in the guide rail of the second axle work module 4, and the first slide block 7 drives the axis direction along the first axle 3 to do linear reciprocal movement by the second axle work module servomotor 8;
First slide block 7 is connected by the tail end of damping spring group 46 with the second axle work module 4, thus to reduce gravity when the second axle moves to-45 ° ~-80 ° and movement inertia, and then reducing the driving force of the second axle work module 4, economize energy, makes operation energy consumption little;
3rd axle work module 25 comprises the 3rd axle work push rod 23,3rd axle work push rod 23 one end is hinged on the 3rd axle 19, the other end is hinged on the second slide block 24, second slide block 24 is arranged in the guide rail of the 3rd axle work module 25, and the second slide block 24 drives the axis direction along the 3rd axle 19 to do linear reciprocal movement by the 3rd axle work module servomotor 26;
The inside upper part of the second axle 22 is provided with damping spring plate 47, damping spring plate 47 is positioned at the second axle 22 angulation at the 3rd axle 19 and is-45 ~-90 ° and works, different dampings is produced when the 3rd axle 19 is positioned at different angles relative to the second axle 22, to reduce gravity and the movement inertia of the 3rd axle 19, reduce the driving force of the 3rd axle work module 25, economize energy, makes operation energy consumption little;
The axis of the second axle work push rod 10, the axis of the 3rd axle work push rod 23 and the axis of the first axle 3 are all positioned at same plane;
The protrusion side being positioned at the first axle 3 of base 1 is fastened with parallelogram supporting seat 48, first connecting axle 49 is supported on the upper surface of parallelogram supporting base 48, the bottom of two parallel the first control levers 21 is articulated with the first connecting axle 49 respectively, the articulated position of the 3rd axle 19 and the second axle 22 is fitted with jointed shaft 50, jointed shaft 50 is provided with the center nose bar 51 of lordosis, the front end of center nose bar 51 is provided with and connects pedestal 52, connect pedestal 52, center nose bar 51, jointed shaft 50 three forms an entirety, the upper end thereof of two parallel the first control levers 21 connects pedestal 52, the lower end of two parallel the second control levers 18 is articulated and connected and connects pedestal 52,
5th axle 15, center nose bar 51, first axle 3 three are parallel to layout, guarantee that two groups of Swing Arm assemblies head and the tail are hinged, and the articulated structure of each group formation two parallelogram;
The front end connecting pedestal 52 is respectively arranged with two parallel connecting axles, it is respectively: be positioned at the second connecting axle 53 of bottom, superposed 3rd connecting axle 54, be articulated and connected the respectively lower end of parallel the second control lever 18 of the second connecting axle 53, two, the upper end of two parallel the first control levers 21 is articulated and connected the 3rd connecting axle 54 respectively;
The first axle decelerator 6 in specific embodiment two is specially gear-box;
In specific embodiment two, terminal handgrip 34 is driven laterally can moved left and right 1500mm by flexible axle servomotor 35, and drive can move upper and lower 100mm at Vertical dimension by Vertical dimension cylinder 44, its make the working range of the terminal handgrip 34 of whole robot larger, be more suitable for modern work;
Base can install dust cover 9 additional, for dust-proof.
This seven axles robot comprises five power: the first axle servomotor 5, second axle work module the 4, the 3rd axle work module 25, flexible axle servomotor 35, Vertical dimension cylinder 44, greatly improve handgrip flexibility and can opereating specification.
Above specific embodiments of the invention have been described in detail, but content being only the preferred embodiment of the invention, the practical range for limiting the invention can not being considered to.All equalizations done according to the invention application range change and improve, and all should still belong within patent covering scope of the present invention.
Claims (13)
1. apply seven axle five power-driven robots of parallelogram principle for one kind, it comprises base, rotating first axle of level that described base is provided with, one end of described first axle is provided with the first axle servomotor driving described first axle to rotate, the other end of described first axle is connected with Swing Arm assembly, described first axle servomotor rotates by driving described first axle and then drives described Swing Arm assembly around the circuit oscillation of described first axle, the free end of described Swing Arm assembly is connected with the handgrip for grabbing workpiece, described Swing Arm assembly comprises be hinged the first Swing Arm assembly together and the second Swing Arm assembly, two groups of Swing Arm assembly head and the tail are hinged, and the articulated structure of each group formation two parallelogram, it is characterized in that: described handgrip comprises horizontal driver part, Vertical dimension driver part, terminal handgrip, described horizontal driver part comprises horizontal cross support, horizontal cross Power Component, described Vertical dimension driver part comprises Vertical dimension Power Component, Vertical dimension support, the free end of described Swing Arm assembly is fastenedly connected described horizontal cross support, the 6th axle horizontal cross track is provided with in described horizontal cross support, described Vertical dimension bracket clamp is loaded on described 6th axle horizontal cross track, the output of described horizontal cross Power Component connects described Vertical dimension support, described Vertical dimension support can move back and forth along described 6th axle horizontal cross track, the 7th axle Vertical dimension track is provided with in described Vertical dimension support, Vertical dimension slide block is flush-mounted in described 7th axle Vertical dimension track, described Vertical dimension slide block connects described terminal handgrip by connecting rod, the output of described Vertical dimension Power Component connects described Vertical dimension slide block.
2. a kind of seven axle five power-driven robots applying parallelogram principle as claimed in claim 1, it is characterized in that: described Swing Arm assembly comprises be hinged the first Swing Arm assembly together and the second Swing Arm assembly, described first Swing Arm assembly comprises the second axle being hinged on described first shaft end, the side of described second axle is provided with two first control levers of assisting described second axle to swing, two described first control levers and described second axle form the articulated structure of parallelogram, also the articulated structure of parallelogram is formed between two described first control levers, described second Swing Arm assembly comprises the 3rd axle and two the second control levers, one end of described 3rd axle and one end away from described first axle of described second axle hinged, the other end and the described handgrip of described 3rd axle are hinged, two described second control levers are hinged on the end of two described first control levers respectively, two described second control levers form hinged parallelogram sturcutre, also form hinged parallelogram sturcutre between two described second control levers and described 3rd axle, be provided with the second axle work module between described second axle and described first axle, described second axle work module rotates for driving the described second axial close or away from described work pieces process position direction, the 3rd axle work module is provided with between described 3rd axle and described second axle, described 3rd axle work module rotates for driving the described 3rd axial described close or away from described work pieces process position direction, the end, one end away from described second axle of described 3rd axle is hinged with the 4th axle, 4th axle is provided with rotating 5th axle, the end, one end that the level of described 5th axle extends towards described second control lever side is connected with parallel dead plate, and the end of described parallel dead plate and described second control lever is articulated and connected, one end away from described second control lever of described 5th axle is passed described 4th axle and is fixedly connected with described handgrip.
3. a kind of seven axle five power-driven robots applying parallelogram principle as claimed in claim 2, it is characterized in that: described horizontal cross Power Component comprises flexible axle servomotor, motor output flexible shaft, active synchronization is taken turns, driven synchronizing wheel, Timing Belt, described flexible axle servomotor connects described active synchronization wheel by motor output flexible shaft, described active synchronization wheel, connected by described Timing Belt between driven synchronizing wheel, described Timing Belt is positioned at the horizontal mounting groove of described horizontal cross support, described active synchronization wheel, driven synchronizing wheel is arranged in the end positions of described horizontal mounting groove respectively, the end face outside of described Timing Belt is fastenedly connected with Vertical dimension support, described Vertical dimension support is installed in the described 6th axle horizontal cross track of evagination simultaneously, described flexible axle driven by servomotor active synchronization wheel rotates, and then drive Timing Belt to drive Vertical dimension support to move along the 6th axle horizontal cross track horizontal cross.
4. a kind of seven axle five power-driven robots applying parallelogram principle as claimed in claim 3, it is characterized in that: in described horizontal cross support, be provided with lateral balance block, described lateral balance block is flush-mounted in the internal cavity of described horizontal cross support, and described lateral balance block is fastenedly connected the 6th axle horizontal cross track by balance weight connecting plate.
5. a kind of seven axle five power-driven robots applying parallelogram principle as claimed in claim 3, is characterized in that: described flexible axle servomotor is installed in the 3rd axle.
6. a kind of seven axle five power-driven robots applying parallelogram principle as claimed in claim 2, it is characterized in that: described Vertical dimension Power Component is specially Vertical dimension cylinder, described Vertical dimension cylinder is installed in described Vertical dimension support, the piston rod of described Vertical dimension cylinder connects described Vertical dimension slide block, and Vertical dimension slide block moves up and down along the 7th axle Vertical dimension track under the drive of Vertical dimension cylinder.
7. a kind of seven axle five power-driven robots applying parallelogram principle as claimed in claim 2, it is characterized in that: the position being away from the second axle of described first axle is provided with gravitational equilibrium block, when described first axle does not rotate, the center of gravity of described gravitational equilibrium block and the plane orthogonal at described first axle axis place are in horizontal plane.
8. a kind of seven axle five power-driven robots applying parallelogram principle as claimed in claim 2 or claim 3, is characterized in that: be provided with damping braking mechanism at described first axle away from the second the tip of the axis.
9. a kind of seven axle five power-driven robots applying parallelogram principle as claimed in claim 2, it is characterized in that: described second axle work module comprises the second axle work push rod, one end of described second axle work push rod is hinged on described second axle, the other end is hinged on the first slide block, described first slide block is arranged in the guide rail of the second axle work module, and described first slide block does linear reciprocal movement by the second axle work module driven by servomotor along the axis direction of described first axle; Described first slide block is connected by the tail end of damping spring group with described second axle work module.
10. a kind of seven axle five power-driven robots applying parallelogram principle as claimed in claim 9, it is characterized in that: described 3rd axle work module comprises the 3rd axle work push rod, one end of described 3rd axle work push rod is hinged on described 3rd axle, the other end is hinged on the second slide block, described second slide block is arranged in the guide rail of the 3rd axle work module, and described second slide block does linear reciprocal movement by the 3rd axle work module driven by servomotor along the axis direction of described 3rd axle; The inside upper part of described second axle is provided with damping spring plate.
11. a kind of seven axle five power-driven robots applying parallelogram principle as claimed in claim 10, is characterized in that: the axis of described second axle work push rod, the described axis of the 3rd axle work push rod and the axis of described first axle are all positioned at same plane.
12. a kind of seven axle five power-driven robots applying parallelogram principle as claimed in claim 2, it is characterized in that: the protrusion side being positioned at described first axle of described base is fastened with parallelogram supporting seat, first connecting axle is supported on the upper surface of described parallelogram supporting base, the bottom of two parallel described first control levers is articulated with described first connecting axle respectively, the articulated position of described 3rd axle and described second axle is fitted with jointed shaft, described jointed shaft is provided with the center nose bar of lordosis, described center nose bar, the front end of described center nose bar is provided with connection pedestal, described connection pedestal, center nose bar, jointed shaft three forms an entirety, the upper end thereof of two parallel described first control levers connects described connection pedestal, the lower end of two parallel described second control levers is articulated and connected described connection pedestal.
13. a kind of seven axle five power-driven robots applying parallelogram principle as claimed in claim 12, it is characterized in that: the front end of described connection pedestal is respectively arranged with two parallel connecting axles, it is respectively: be positioned at the second connecting axle of bottom, superposed 3rd connecting axle, the upper end of two parallel described first control levers is articulated and connected described second connecting axle respectively, and the lower end of two parallel described second control levers is articulated and connected described 3rd connecting axle respectively.
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