CN205290960U - Seven five power machine people of parallelogram principle use - Google Patents
Seven five power machine people of parallelogram principle use Download PDFInfo
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- CN205290960U CN205290960U CN201620031756.7U CN201620031756U CN205290960U CN 205290960 U CN205290960 U CN 205290960U CN 201620031756 U CN201620031756 U CN 201620031756U CN 205290960 U CN205290960 U CN 205290960U
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Abstract
The utility model provides a seven five power machine people of parallelogram principle use, it has improved the stability that the work piece was taken, and makes the scope controlled of tongs big, and the meticulous adjustment of tongs is saved trouble laborsavingly. The toughened glass storage apparatus comprises a pedestal, the rotatable primary shaft of the level that is provided with on the base, the one end of the primary shaft is provided with the drive primary shaft pivoted primary shaft servo motor, the other end of the primary shaft is connected with and shakes suspension arm set, and primary shaft servo motor is through the drive the primary shaft rotates and then drives shake suspension arm set round the circumference swing of the primary shaft, the free end that shakes suspension arm set is connected with the tongs that is used for snatching the work piece, shaking suspension arm set and shaking suspension arm set including mutual articulated first suspension arm set of shaking and second together, two sets of suspension arm set head and the tail that shake articulate each other to each in group becomes two parallelogram's hinge structure, its characterized in that: the tongs includes the horizontal drive part, perpendicularly to driver part, terminal tongs.
Description
Technical field
The utility model relates to the technical field of industrial robot, is specially a kind of seven axle five power-driven robots applying parallelogram principle.
Background technology
Industrial robot automatic production line suite of equipment 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 have used industrial robot automatic production line in a large number, to ensure quality product, it is to increase production efficiency, avoid a large amount of work accidents simultaneously.
At present, single arm swinging mechanical hand on the market, owing to its mobile alignment is circular arc, handgrip sucker is difficult to realize the rectilinear movement of level, in order to allow handgrip sucker maintenance level, often needs the auxiliary of power mechanism, so also can improve manufacturing cost accordingly. And the transmission arm of existing mechanical manipulator is commonly single arm, and its stability is lower, mechanical manipulator easily produces to rock in moving process, seriously affects the control accuracy of mechanical manipulator, it is difficult to reach the accuracy requirement of 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 so that 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 utility model 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 respectively group forms the articulated structure of two parallelogram, and then ensure that robot can ensure that in operational process the workpiece that handgrip captures is in horizontality all the time, improve the stability that workpiece is taken, and the manipulated scope making handgrip is big, 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 the level that is provided with on described base, 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, by driving, described first axle rotates and then drives described Swing Arm assembly around the circuit oscillation of described first axle described first axle servomotor, 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 2nd Swing Arm assembly, two groups of Swing Arm assembly head and the tail are hinged, and respectively group forms the articulated structure of two parallelogram, it is characterized in that: described handgrip comprises horizontal drive element, Vertical dimension drive element, terminal handgrip, described horizontal drive element comprises horizontal cross support, horizontal cross Power Component, described Vertical dimension drive element 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 it is provided with in described horizontal cross support, described Vertical dimension bracket clamp is loaded on described 6th axle horizontal cross track, the output terminal 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 it 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 union lever, the output terminal of described Vertical dimension Power Component connects described Vertical dimension slide block.
It is characterised in that further: described Swing Arm assembly comprises be hinged the first Swing Arm assembly together and the 2nd Swing Arm assembly, described first Swing Arm assembly comprises the 2nd axle being hinged on described first shaft end, the side of described 2nd axle is provided with two the first control levers assisting described 2nd axle to swing, two described first control levers and described 2nd axle form the articulated structure of parallelogram, also form the articulated structure of parallelogram between two described first control levers; Described 2nd Swing Arm assembly comprises the 3rd axle and two the 2nd control levers, one end of described 3rd axle and one end away from described first axle of described 2nd axle are hinged, the other end and the described handgrip of described 3rd axle are hinged, two described 2nd control levers are hinged on the end of two described first control levers respectively, two described 2nd control levers form hinged parallelogram sturcutre, also form hinged parallelogram sturcutre between two described 2nd control levers and described 3rd axle; Being provided with the 2nd axle work module between described 2nd axle and described first axle, described 2nd axle work module rotates in the described 2nd axial close or away from described work pieces process position direction for driving; The 3rd axle work module it is provided with between described 3rd axle and described 2nd axle, described 3rd axle work module rotates in the described 3rd axial described close or away from described work pieces process position direction for driving, the end, one end away from described 2nd 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 2nd control lever side is connected with parallel dead plate, and the end of described parallel dead plate and described 2nd control lever is articulated and connected; One end away from described 2nd control lever of described 5th axle is through 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 synchronous wheel, synchronous band, described flexible axle servomotor connects described active synchronization wheel by motor output flexible shaft, described active synchronization is taken turns, connected by described synchronous band between driven synchronous wheel, the transverse direction that described synchronous band is positioned at described horizontal cross support installs groove, described active synchronization is taken turns, driven synchronous wheel is arranged in the described end positions laterally installing groove respectively, the end face outside of described synchronous band is fastenedly connected with Vertical dimension support, described Vertical dimension support is installed in outer convex described 6th axle horizontal cross track simultaneously, described flexible axle driven by servomotor active synchronization wheel rotates, and then drive synchronous band 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,
It is provided with horizontal counterbalance weight, it is ensured that stablizing during whole arrangement works in described horizontal cross support;
Described horizontal counterbalance weight is flush-mounted in the internal cavity of described horizontal cross support, and described horizontal counterbalance weight is fastenedly connected the 6th axle horizontal cross track by counterbalance weight web plate so that the 6th axle horizontal cross orbital arrangement is 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 operation 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 so that terminal handgrip can carry out intense adjustment in the vertical direction;
The position being away from the 2nd axle of described first axle is provided with gravity counterbalance weight, when described first axle does not rotate, the center of gravity of described gravity counterbalance weight and the plane orthogonal at described first axle axis place, in horizontal plane, can make driving Dynamic response reduce, to fall low power consumption;
Being provided with damping brake mechanism at described first axle away from the end of the 2nd axle, 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 2nd axle work module comprises the 2nd axle work push rod, one end of described 2nd axle work push rod is hinged on described 2nd axle, the other end is hinged on the first slide block, described first slide block is arranged in the guiding track of the 2nd axle work module, and described first slide block does linear reciprocal movement by the 2nd 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 2nd axle work module, thus to reduce gravity when the 2nd axle moves to-45 �㡫-80 �� and movement inertia, and then reduce the motivating force of the 2nd axle work module, save energy so that operation energy consumption is 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 2nd slide block, described 2nd slide block is arranged in the guiding track of the 3rd axle work module, and described 2nd 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 2nd axle is provided with damping spring plate, described damping spring plate is positioned at the 2nd axle angulation for-45 �㡫-90 �� at the 3rd axle and works, different dampings is produced when the 3rd axle is positioned at different angles relative to the 2nd axle, to reduce gravity and the movement inertia of the 3rd axle, reduce the motivating force of the 3rd axle work module,, save energy so that operation energy consumption is little;
Described first axle is arranged by two wall-panels supports being vertically set on described base, two described wallboard parallel interval, and described gravity counterbalance weight is arranged on the centre of two described wallboards.
The axis of described 2nd 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 and supports seat, first coupling shaft 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 coupling shaft respectively, the articulated position of described 3rd axle and described 2nd axle is fitted with hinged axle, described hinged axle is provided with front convex middle cardiac prominence bar, described middle cardiac prominence bar, the front end of described middle cardiac prominence bar is provided with connection pedestal, described connection pedestal, middle cardiac prominence bar, hinged axle 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 2nd control levers is articulated and connected described connection pedestal,
The front end of described connection pedestal is respectively arranged with two parallel coupling shafts, it is respectively: be positioned at the 2nd coupling shaft of bottom, superposed 3rd coupling shaft, the upper end of two parallel described first control levers is articulated and connected described 2nd coupling shaft respectively, and the lower end of two parallel described 2nd control levers is articulated and connected described 3rd coupling shaft respectively.
After adopting technique scheme, it is by being hinged two groups of Swing Arm assembly head and the tail, and respectively group forms the articulated structure of two parallelogram, and then ensure that robot can ensure that in operational process the workpiece that handgrip captures is in horizontality 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 save energy, and one-piece construction is simple, cost is lower; And possessed horizontal cross locomotive function due to handgrip simultaneously and descended locomotive function vertically upward so that the manipulated scope of handgrip is big, 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 handiness and can operating restraint.
Accompanying drawing explanation
Fig. 1 is front view structural representation of the present utility model;
Fig. 2 is stereographic map structural representation of the present utility model (having been analysed and observe by base 1);
In figure, title corresponding to sequence number is as follows:
Base 1, gravity counterbalance weight 2, first axle 3, 2nd axle work module 4, first axle servomotor 5, first axle speed reduction unit 6, first slide block 7, 2nd axle work module servomotor 8, dw 9, 2nd axle work push rod 10, handgrip 12, parallel dead plate 14, 5th axle 15, 4th axle 16, 2nd control lever 18, 3rd axle 19, horizontal cross support 20, first control lever 21, 2nd axle 22, 3rd axle work push rod 23, 2nd 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, union lever 33, terminal handgrip 34, flexible axle servomotor 35, motor output flexible shaft 36, active synchronization wheel 37, driven synchronous wheel 38, synchronous band 39, groove 40 is laterally installed, horizontal counterbalance weight 41, internal cavity 42, counterbalance weight web plate 43, Vertical dimension cylinder 44, damping brake mechanism 45, damping spring group 46, damping spring plate 47, parallelogram supports seat 48, first coupling shaft 49, hinged axle 50, middle cardiac prominence bar 51, connect pedestal 52, 2nd coupling shaft 53, 3rd coupling shaft 54.
Embodiment
Being illustrated further by the utility model below in conjunction with drawings and Examples, in figure, the direction of arrow is the turning 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 the level that is provided with on base 1, one end of first axle 3 is provided with the first axle servomotor 5 driving the first axle 3 to rotate, the other end of the first axle is connected with Swing Arm assembly, by driving, the first axle 3 rotates and then drives Swing Arm assembly around the circuit oscillation of the first axle 3 first axle servomotor 5, 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 2nd Swing Arm assembly, first Swing Arm assembly comprises the 2nd axle 22 being hinged on the first shaft end, the side of the 2nd axle 22 is provided with two the first control levers 21 assisting the 2nd axle to swing, two the first control levers 21 and the 2nd axle 22 form the articulated structure of parallelogram, also the articulated structure of parallelogram is formed between two the first control levers 21, 2nd Swing Arm assembly comprises the 3rd axle 19 and two the 2nd control levers 18, one end of 3rd axle 19 and one end away from the first axle 3 of the 2nd axle 22 are hinged, the other end and the handgrip of the 3rd axle 19 are hinged, two the 2nd control levers 18 are hinged on the end of two the first control levers 21 respectively, two the 2nd control levers 18 form hinged parallelogram sturcutre, also form hinged parallelogram sturcutre between two the 2nd control levers 18 and the 3rd axle 19, the 2nd axle 22 rotates to close or away from work pieces process position direction for driving to be provided with the 2nd axle work module the 4, two axle work module 4 between 2nd axle 22 and the first axle 3, the 3rd axle work module 25 it is provided with between 3rd axle 19 and the 2nd axle 22, for driving, the 3rd axle 19 rotates 3rd axle work module 25 to close or away from work pieces process position direction, the end, one end away from the 2nd 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 2nd control lever 18 side is connected with parallel dead plate 14, and the end of parallel dead plate 14 and the 2nd control lever 18 is articulated and connected, one end away from the 2nd control lever 18 of 5th axle 15 is through the 4th axle 16 and is fixedly connected with handgrip 12.
The handgrip 12 of robot comprises horizontal drive element, Vertical dimension drive element, terminal handgrip 34, horizontal drive element comprises horizontal cross support 20, horizontal cross Power Component, Vertical dimension drive element comprises Vertical dimension Power Component, Vertical dimension support 29, 5th axle 15 is fastenedly connected horizontal cross support 20 after the 4th axle 16, the 6th axle horizontal cross track 30 it is provided with in horizontal cross support 20, Vertical dimension support 29 is installed in the 6th axle horizontal cross track 30, the output terminal 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 it 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 union lever 33, the output terminal 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 synchronous wheel 38, synchronous band 39, flexible axle servomotor 35 connects active synchronization wheel 37 by motor output flexible shaft 36, active synchronization wheel 37, by the connection of synchronous band 39 between driven synchronous wheel 38, the transverse direction that synchronous band 39 is positioned at horizontal cross support 20 installs groove 40, active synchronization wheel 37, driven synchronous wheel 38 is arranged in the end positions laterally installing groove 40 respectively, the end face outside of synchronous band 39 is fastenedly connected with Vertical dimension support 29, Vertical dimension support 29 is installed in outer the 6th convex axle horizontal cross track 30 simultaneously, flexible axle servomotor 35 drives active synchronization wheel 37 rotation, and then drive synchronous band 38 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,
Horizontal counterbalance weight 41 it is provided with, it is ensured that stablizing during whole arrangement works in horizontal cross support 20;
Horizontal counterbalance weight 41 is flush-mounted in the internal cavity 42 of horizontal cross support 20, and horizontal counterbalance weight 41 is fastenedly connected the 6th axle horizontal cross track 30 by counterbalance weight web plate 43 so that 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 operation 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, it is convenient to robot grabbing, knock off part time do not need to employ each servomotor power of robot, to reduce the electricity consumption of this robot when normal operation and to extend work-ing life of each motor,
The position being away from the 2nd axle 22 of the first axle 3 is provided with gravity counterbalance weight 2, first axle 3 when not rotating, and the center of gravity of gravity counterbalance weight 2 and the plane orthogonal at the first axle 3 axis place, in horizontal plane, can make driving Dynamic response reduce, to fall low power consumption;
Being provided with damping brake mechanism 45 at the first axle 3 away from the end of the 2nd 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;
2nd axle work module 4 comprises the 2nd axle work push rod 10,2nd axle work push rod 10 one end is hinged on the 2nd axle 22, the other end is hinged on the first slide block 7, first slide block 7 is arranged in the guiding track of the 2nd 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 2nd axle work module servomotor 8;
First slide block 7 is connected by the tail end of damping spring group 46 with the 2nd axle work module 4, thus to reduce gravity when the 2nd axle moves to-45 �㡫-80 �� and movement inertia, and then reduce the motivating force of the 2nd axle work module 4, save energy so that operation energy consumption is 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 2nd slide block 24,2nd slide block 24 is arranged in the guiding track of the 3rd axle work module 25, and the 2nd 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 2nd axle 22 is provided with damping spring plate 47, damping spring plate 47 is positioned at the 2nd axle 22 angulation for-45��-90 �� at the 3rd axle 19 and works, different dampings is produced when the 3rd axle 19 is positioned at different angles relative to the 2nd axle 22, to reduce gravity and the movement inertia of the 3rd axle 19, reduce the motivating force of the 3rd axle work module 25, save energy so that operation energy consumption is little;
The axis of the axis of the 2nd axle work push rod 10, the 3rd axle work axis of push rod 23 and the first axle 3 is all positioned at same plane;
The protrusion side being positioned at the first axle 3 of base 1 is fastened with parallelogram and supports seat 48, first coupling shaft 49 is supported on the upper surface of parallelogram supporting base 48, the bottom of two the first parallel control levers 21 is articulated with the first coupling shaft 49 respectively, the articulated position of the 3rd axle 19 and the 2nd axle 22 is fitted with hinged axle 50, hinged axle 50 is provided with front convex middle cardiac prominence bar 51, the front end of middle cardiac prominence bar 51 is provided with and connects pedestal 52, connect pedestal 52, middle cardiac prominence bar 51, hinged axle 50 three forms an entirety, the upper end thereof of two the first parallel control levers 21 connects pedestal 52, the lower end of two the 2nd parallel control levers 18 is articulated and connected and connects pedestal 52,
5th axle 15, middle cardiac prominence bar 51, first axle 3 three are parallel to layout, it is ensured that two groups of Swing Arm assemblies head and the tail are hinged, and respectively group forms the articulated structure of two parallelogram;
The front end connecting pedestal 52 is respectively arranged with two parallel coupling shafts, it is respectively: be positioned at the 2nd coupling shaft 53 of bottom, superposed 3rd coupling shaft 54, be articulated and connected the respectively lower end of parallel the 2nd control lever 18 of the 2nd coupling shaft 53, two of the upper end of two the first parallel control levers 21 is articulated and connected the 3rd coupling shaft 54 respectively;
The first axle speed reduction unit 6 in specific embodiment two is specially wheel casing;
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, it makes the work that the working range of the terminal handgrip 34 of whole robot is bigger, be more suitable for modernization;
Base can install dw 9, for dust-proof additional.
This seven axles robot comprises five power: the first axle servomotor 5, the 2nd axle work module 4, the 3rd axle work module 25, flexible axle servomotor 35, Vertical dimension cylinder 44, greatly improve handgrip handiness and can operating restraint.
Above specific embodiment of the utility model is described in detail, but content is only the better embodiment that the utility model is created, the practical range created for limiting the utility model can not be considered to. All equalizations done according to the utility model creation application range change and improvement etc., all should still belong within patent covering scope of the present utility model.
Claims (13)
1. apply seven axle five power-driven robots of parallelogram principle for one kind, it comprises base, rotating first axle of the level that is provided with on described base, 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, by driving, described first axle rotates and then drives described Swing Arm assembly around the circuit oscillation of described first axle described first axle servomotor, 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 2nd Swing Arm assembly, two groups of Swing Arm assembly head and the tail are hinged, and respectively group forms the articulated structure of two parallelogram, it is characterized in that: described handgrip comprises horizontal drive element, Vertical dimension drive element, terminal handgrip, described horizontal drive element comprises horizontal cross support, horizontal cross Power Component, described Vertical dimension drive element 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 it is provided with in described horizontal cross support, described Vertical dimension bracket clamp is loaded on described 6th axle horizontal cross track, the output terminal 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 it 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 union lever, the output terminal 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 2nd Swing Arm assembly, described first Swing Arm assembly comprises the 2nd axle being hinged on described first shaft end, the side of described 2nd axle is provided with two the first control levers assisting described 2nd axle to swing, two described first control levers and described 2nd axle form the articulated structure of parallelogram, also the articulated structure of parallelogram is formed between two described first control levers, described 2nd Swing Arm assembly comprises the 3rd axle and two the 2nd control levers, one end of described 3rd axle and one end away from described first axle of described 2nd axle are hinged, the other end and the described handgrip of described 3rd axle are hinged, two described 2nd control levers are hinged on the end of two described first control levers respectively, two described 2nd control levers form hinged parallelogram sturcutre, also form hinged parallelogram sturcutre between two described 2nd control levers and described 3rd axle, being provided with the 2nd axle work module between described 2nd axle and described first axle, described 2nd axle work module rotates in the described 2nd axial close or away from described work pieces process position direction for driving, the 3rd axle work module it is provided with between described 3rd axle and described 2nd axle, described 3rd axle work module rotates in the described 3rd axial described close or away from described work pieces process position direction for driving, the end, one end away from described 2nd 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 2nd control lever side is connected with parallel dead plate, and the end of described parallel dead plate and described 2nd control lever is articulated and connected, one end away from described 2nd control lever of described 5th axle is through 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 synchronous wheel, synchronous band, described flexible axle servomotor connects described active synchronization wheel by motor output flexible shaft, described active synchronization is taken turns, connected by described synchronous band between driven synchronous wheel, the transverse direction that described synchronous band is positioned at described horizontal cross support installs groove, described active synchronization is taken turns, driven synchronous wheel is arranged in the described end positions laterally installing groove respectively, the end face outside of described synchronous band is fastenedly connected with Vertical dimension support, described Vertical dimension support is installed in outer convex described 6th axle horizontal cross track simultaneously, described flexible axle driven by servomotor active synchronization wheel rotates, and then drive synchronous band 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 horizontal counterbalance weight, described horizontal counterbalance weight is flush-mounted in the internal cavity of described horizontal cross support, and described horizontal counterbalance weight is fastenedly connected the 6th axle horizontal cross track by counterbalance weight web plate.
5. a kind of seven axle five power-driven robots applying parallelogram principle as claimed in claim 3, it is characterised 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 2nd axle of described first axle is provided with gravity counterbalance weight, when described first axle does not rotate, the center of gravity of described gravity counterbalance weight 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, it is characterised in that: it is provided with damping brake mechanism at described first axle away from the end of the 2nd axle.
9. a kind of seven axle five power-driven robots applying parallelogram principle as claimed in claim 2, it is characterized in that: described 2nd axle work module comprises the 2nd axle work push rod, one end of described 2nd axle work push rod is hinged on described 2nd axle, the other end is hinged on the first slide block, described first slide block is arranged in the guiding track of the 2nd axle work module, and described first slide block does linear reciprocal movement by the 2nd 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 2nd 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 2nd slide block, described 2nd slide block is arranged in the guiding track of the 3rd axle work module, and described 2nd 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 2nd 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, it is characterised in that: the axis of described 2nd 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 and supports seat, first coupling shaft 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 coupling shaft respectively, the articulated position of described 3rd axle and described 2nd axle is fitted with hinged axle, described hinged axle is provided with front convex middle cardiac prominence bar, described middle cardiac prominence bar, the front end of described middle cardiac prominence bar is provided with connection pedestal, described connection pedestal, middle cardiac prominence bar, hinged axle 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 2nd 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 coupling shafts, it is respectively: be positioned at the 2nd coupling shaft of bottom, superposed 3rd coupling shaft, the upper end of two parallel described first control levers is articulated and connected described 2nd coupling shaft respectively, and the lower end of two parallel described 2nd control levers is articulated and connected described 3rd coupling shaft respectively.
Priority Applications (1)
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| CN201620031756.7U CN205290960U (en) | 2016-01-14 | 2016-01-14 | Seven five power machine people of parallelogram principle use |
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| CN201620031756.7U CN205290960U (en) | 2016-01-14 | 2016-01-14 | Seven five power machine people of parallelogram principle use |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105459105A (en) * | 2016-01-14 | 2016-04-06 | 苏州神运机器人有限公司 | Seven-axis five-power robot applying parallelogram principle |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105459105A (en) * | 2016-01-14 | 2016-04-06 | 苏州神运机器人有限公司 | Seven-axis five-power robot applying parallelogram principle |
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