CN209551691U - A kind of novel and multifunctional seven-degree of freedom robot - Google Patents

Abstract

The utility model relates to field of mechanical technique, in particular a kind of novel and multifunctional seven-degree of freedom robot, including under casing, the adjutage being arranged under casing and several mechanical arms, it is connected by driving motor between two adjacent mechanical arms, under casing is equipped with pulling apparatus, and the inside of under casing is equipped with cavity, the second rectangular channel being connected with the external world is offered on the roof of cavity, it is equipped with height adjustment device in cavity, is equipped with bobbin winder device in third rectangular channel.Universal wheel, pulling apparatus, height adjustment device and the bobbin winder device that the utility model passes through setting, it realizes the easy to remove of seven-degree of freedom robot, height adjustment and realizes that conducting wire thereon will not solve the problems, such as that general novel and multifunctional seven-degree of freedom robot is not adjustable in the presence of height, is not easy to mobile and conducting wire thereon and is easy to happen winding there is a phenomenon where mutually winding.

Description

A kind of novel and multifunctional seven-degree of freedom robot

Technical field

The utility model relates to field of mechanical technique, specially a kind of novel and multifunctional seven-degree of freedom robot.

Background technique

The type of existing robot is more, the robot including various different function purposes and various different freedom degrees. Have on seven-degree of freedom robot seven can on regulation two-dimensional surface free movement mechanical arm, space operation coverage area Extensively, motion path is flexible, referred to as seven-degree of freedom robot, but with the presence of seven-degree of freedom robot its mechanical arm height Be inconvenient to adjust, its mounting seat is not easy to the problem of mobile and its external conducting wire is easy to happen mutual winding.In consideration of it, It is proposed that a kind of novel and multifunctional seven-degree of freedom robot.

Utility model content

The purpose of this utility model is to provide a kind of novel and multifunctional seven-degree of freedom robot, to solve above-mentioned background skill The general novel and multifunctional seven-degree of freedom robot proposed in art is not adjustable in the presence of height, it is mobile to be not easy to and thereon Conducting wire is easy to happen mutual winding problem.

To achieve the above object, the utility model provides the following technical solutions:

A kind of novel and multifunctional seven-degree of freedom robot, including under casing, the adjutage being arranged under casing and several Mechanical arm, is connected by driving motor between two adjacent mechanical arms, one of them described mechanical arm passes through driving Motor is connect with adjutage, and the under casing is equipped with pulling apparatus, and the pulling apparatus includes being arranged in the under casing right side On two the first symmetrical rectangular channels, offer sliding slot on the left and right sides cell wall of first rectangular channel, it is described Sliding slot is closely welded with baffle on the cell wall of its notch position, is equipped with connecting rod in first rectangular channel, the connecting rod with It is mating between first rectangular channel, pull rod is equipped between two connecting rods, and the pull rod is located at first square Outside shape slot.

Preferably, there are four the universal wheels for being in matrix arrangement for the bottom surface setting of the under casing.

Preferably, the connecting rod in an end body of rod of the pull rod far from offering and the extraneous axis hole being connected, institute It states and is equipped with shaft in axis hole, two ends of the shaft are provided with idler wheel, and the idler wheel is located at the corresponding sliding slot Interior, the idler wheel between shaft and the connecting rod by being rotatablely connected.

Preferably, the length of the shaft is greater than the distance between two baffles in first rectangular channel.

Preferably, the inside of the under casing is equipped with cavity, offers on the roof of the cavity and extraneous the to be connected Two rectangular channels, the cavity is interior to be equipped with height adjustment device, and the height adjustment device includes closely being welded on the cavity bottom The flexible shaft end of hydraulic cylinder on wall, the hydraulic cylinder is equipped with top plate, and the adjutage is closely welded on the top plate, institute State and be also closely welded with two symmetrical gag lever posts on the bottom wall of cavity, the top of the gag lever post through the top plate and Also cross second rectangular channel.

Preferably, the top surface of two gag lever posts is closely welded with limit plate, and the adjutage passes through the limit plate.

Preferably, third rectangular channel is offered on the leading flank of the under casing, on the rear side cell wall of the third rectangular channel The threading hole being connected with the cavity is offered, opens up fluted, institute on the cell wall of two sides up and down of the third rectangular channel It states and offers accommodating groove on the left side cell wall of third rectangular channel, the accommodating groove is connected with the groove.

Preferably, bobbin winder device is equipped in the third rectangular channel, the bobbin winder device includes being arranged in the third square Fixed column on rear side of shape slot on cell wall is closely welded with several rectangular slabs annularly equidistantly arranged in the fixed column, The rectangular slab is provided with spacing block set on the one side of cell wall on rear side of the third rectangular channel.

Preferably, it is equipped with sliding connection plate in the groove, is slidably connected between the sliding connection plate and the groove, Thumb, which is offered, on the leading flank of the sliding connection plate is put into slot.

Preferably, the height of the sliding connection plate is greater than the height of the third rectangular channel, the sliding connection plate Length is greater than the length of the third rectangular channel, and the size of the accommodating groove is adapted with the size of the sliding connection plate.

Compared with prior art, the utility model has the beneficial effects that

1, the utility model facilitates the movement of under casing by the universal wheel of setting, will additionally by the pulling apparatus of setting Connecting rod is pulled out from the first rectangular channel, hand gripping pull rod, more convenient mobile under casing, and when not needing be mobile, in order to avoid Connecting rod occupies larger space, can be received into connecting rod in the first rectangular channel, solve general novel and multifunctional seven freedom machine Device people is not easy to mobile problem.

2, the utility model is realized and the height of adjutage is adjusted by the height adjustment device of setting, Jin Ershi Now the height of each mechanical arm is adjusted, the height for solving general novel and multifunctional seven-degree of freedom robot cannot be adjusted The problem of section.

3, the utility model is defined the height adjustment range of adjutage, avoids extending by the limit plate of setting The case where length elongation of arm is too long, causes the device unbalance, and then collapses solves general novel more function Energy seven-degree of freedom robot is after realizing height adjustment, once, there is unbalance in the excessive height of adjutage.

4, the utility model is realized and is collected to conducting wire, conducting wire is made to be looped around fixed column by the bobbin winder device of setting On, facilitate next use, avoid the occurrence of the phenomenon that mutually winding between conducting wire, influence next use, solves general novel Conducting wire on multi-functional seven-degree of freedom robot is easy to happen the problem of mutually winding even knots.

5, the utility model protects bobbin winder device by the sliding connection plate of setting, that is, realizes and carry out to conducting wire Protection avoids the conductive line surfaces in third rectangular channel from accumulating dust, and the thumb by being arranged is put into slot, and sliding easy to remove connects Fishplate bar solves the problems, such as that the protection cap on general novel and multifunctional seven-degree of freedom robot is stubborn.

Detailed description of the invention

Fig. 1 is the structural schematic diagram of the utility model embodiment 1；

Fig. 2 is the explosive view of the utility model embodiment 1；

Fig. 3 is the enlarged drawing in the utility model Fig. 2 at A；

Fig. 4 is the enlarged drawing in the utility model Fig. 2 at B；

Fig. 5 is the structural schematic diagram of the utility model embodiment 2；

Fig. 6 is the cross-sectional view of the utility model embodiment 2；

Fig. 7 is the enlarged drawing in the utility model Fig. 6 at C；

Fig. 8 is the structural schematic diagram of the utility model embodiment 3；

Fig. 9 is the structural schematic diagram of the utility model embodiment 4；

Figure 10 is the explosive view of the utility model embodiment 4；

Figure 11 is the enlarged drawing in the utility model Figure 10 at D；

Figure 12 is the structural schematic diagram of the utility model bobbin winder device；

Figure 13 is the structural schematic diagram of the utility model embodiment 5.

In figure: 1, under casing；10, universal wheel；11, adjutage；12, mechanical arm；13, driving motor；14, cavity；141, Two rectangular channels；2, pulling apparatus；20, the first rectangular channel；21, sliding slot；22, baffle；23, connecting rod；231, axis hole；232, shaft； 233, idler wheel；24, pull rod；3, height adjustment device；30, hydraulic cylinder；31, top plate；32, gag lever post；4, limit plate；5, third square Shape slot；50, threading hole；51, groove；52, accommodating groove；6, bobbin winder device；60, fixed column；61, rectangular slab；62, spacing block set； 7, sliding connection plate；70, thumb is put into slot.

Specific embodiment

The following will be combined with the drawings in the embodiments of the present invention, carries out the technical scheme in the embodiment of the utility model Clearly and completely describe, it is clear that the described embodiments are only a part of the embodiments of the utility model, rather than whole Embodiment.Based on the embodiments of the present invention, those of ordinary skill in the art are without making creative work Every other embodiment obtained, fall within the protection scope of the utility model.

In the description of the present invention, it should be understood that term " center ", " longitudinal direction ", " transverse direction ", " length ", " width Degree ", " thickness ", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outside", The orientation or positional relationship of the instructions such as " clockwise ", " counterclockwise " be based on the orientation or positional relationship shown in the drawings, be only for Convenient for description the utility model and simplify description, rather than the equipment of indication or suggestion meaning or element must have specifically Orientation is constructed and operated in a specific orientation, therefore should not be understood as limiting the present invention.

In addition, term " first ", " second ", " third " are used for description purposes only, it is not understood to indicate or imply phase To importance or implicitly indicate the quantity of indicated technical characteristic." first ", " second ", " third " are defined as a result, Feature can explicitly or implicitly include one or more of the features.In the description of the present invention, " multiple " It is meant that two or more, unless otherwise specifically defined.

Embodiment 1

A kind of novel and multifunctional seven-degree of freedom robot including under casing 1, is arranged under casing 1 as shown in Figures 1 to 4 Adjutage 11 and several mechanical arms 12, the bottom surface setting of under casing 1 are adjacent there are four the universal wheel 10 for being in matrix arrangement It is connected by driving motor 13 between two mechanical arms 12, one of mechanical arm 12 passes through driving motor 13 and adjutage 11 Connection, under casing 1 are equipped with pulling apparatus 2, and pulling apparatus 2 includes be arranged on 1 right side of under casing two symmetrical the One rectangular channel 20 offers sliding slot 21 on the left and right sides cell wall of first rectangular channel 20, and sliding slot 21 is close to its notch position It is closely welded with baffle 22 on cell wall, is equipped with connecting rod 23, an end body of rod of the connecting rod 23 far from pull rod 24 in the first rectangular channel 20 The axis hole 231 being connected with the external world is inside offered, is equipped with shaft 232 in axis hole 231, two ends of shaft 232 are provided with rolling Wheel 233, idler wheel 233 is located in corresponding sliding slot 21, and idler wheel 233 between shaft 232 and connecting rod 23 by being rotatablely connected, even It is mating between bar 23 and the first rectangular channel 20, pull rod 24 is equipped between two connecting rods 23, and pull rod 24 is located at the first rectangle Outside slot 20.

It is worth noting that can also install braking mechanism on universal wheel 10, when not needing mobile under casing 1, this is universal Wheel 10 is able to maintain static, and under extraneous thrust, will not move easily.

Further, the length of shaft 232 is greater than the distance between two baffles 22 in the first rectangular channel 20, makes idler wheel 233 are in always in sliding slot 21, slide along sliding slot 21, avoid idler wheel 233 from falling in the first rectangular channel 20, cause the device Failure.

It is worth noting that pull rod 24 is made of butadiene rubber material, cold resistance, wearability and the elasticity of butadiene rubber It is especially excellent, it generates heat under dynamic load few, ageing-resistant performance is good, is easily used in combination, has with natural rubber, neoprene, nitrile rubber etc. Conducive to the service life of extending pull rod 24.

It is worth noting that, the length of the first rectangular channel 20 is equal to the length of connecting rod 23, make when without using connecting rod 23, it will Connecting rod 23 is received into the first rectangular channel 20, and avoiding connecting rod 23 from stretching out, the first rectangular channel 20 is too long, and occupancy larger space causes phase Answer inconvenience.

The novel and multifunctional seven-degree of freedom robot of the present embodiment when in use, passes through the connecting rod 23 and universal wheel of setting 10, pull rod 24 is held, connecting rod 23 is pulled out to the rear side face contact up to idler wheel 233 and baffle 22 from the first rectangular channel 20, then Pull pull rod 24 that the movement of under casing 1 can be realized, it, will even towards the direction of the first rectangular channel 20 when not needing mobile under casing 1 Bar 23 is received into the first rectangular channel 20, is solved general novel and multifunctional seven-degree of freedom robot when in use, is deposited It is being not easy to mobile problem.

Embodiment 2

It in concrete operations, is adjusted, is further realized to mechanical arm 12 for the ease of the height to adjutage 11 Height is adjusted, and therefore, makes improvements on the basis of embodiment 1 under casing 1, as a kind of preferred embodiment, extremely such as Fig. 5 Shown in Fig. 7, the inside of under casing 1 is equipped with cavity 14, and the second rectangular channel being connected with the external world is offered on the roof of cavity 14 141, cavity 14 is interior to be equipped with height adjustment device 3, and height adjustment device 3 includes the hydraulic cylinder being closely welded on 14 bottom wall of cavity 30, the flexible shaft end of hydraulic cylinder 30 is equipped with top plate 31, and top plate 31 is closely welded on the telescopic shaft of hydraulic cylinder 30, adjutage 11 It is closely welded on top plate 31, two symmetrical gag lever posts 32, gag lever post 32 is also closely welded on the bottom wall of cavity 14 Top through top plate 31 and also cross the second rectangular channel 141, offer the through-hole for allowing gag lever post 32 to pass through in top plate 31.

Specifically, playing the role of guiding and limit by the gag lever post 32 of setting to the movement of top plate 31, avoiding top plate 31 in moving process, situations such as unstable or inclination occurs.

The novel and multifunctional seven-degree of freedom robot of the present embodiment when in use, will be hydraulic by the hydraulic cylinder 30 of setting Cylinder 30 is connected after extraneous power supply, and telescopic shaft thereon starts to extend, and drives top plate 31 mobile along gag lever post 32, to realize The height of adjutage 11 is adjusted, that is, realizes and the height of mechanical arm 12 is adjusted, and gag lever post 32 is to top plate 31 Mobile to play the role of guiding and limit, guarantee top plate 31 is more stable in moving process, solves general novel more function The problem of height of energy seven-degree of freedom robot is not adjustable.

Embodiment 3

In concrete operations, in order to avoid adjutage 11 extends the too long unbalance for causing adjutage 11, therefore, In Gag lever post 32 is made improvements on the basis of embodiment 2, as a kind of preferred embodiment, as shown in figure 8, two gag lever posts 32 Top surface is closely welded with limit plate 4, and adjutage 11 passes through limit plate 4, and allow adjutage 11 to pass through logical is offered in limit plate 4 Hole.

In the present embodiment, limit plate 4 is preferably made of stainless steel, the intensity and hardness of stainless steel material compared with Greatly, it and is not easily broken, can effectively prolong its service life.

The novel and multifunctional seven-degree of freedom robot of the present embodiment when in use, by the limit plate 4 of setting, when top plate 31 Move up to top plate 31 upper surface and limit plate 4 following table face contact when, the telescopic shaft of hydraulic cylinder 30 just cannot be after at this time Continuous elongation, i.e., adjutage 11 just cannot continue to move up, and be defined to realize to the height adjustment range of adjutage 11, General novel and multifunctional seven-degree of freedom robot is solved after realizing height adjustment, once the excessive height of adjutage, There are problems that unbalance.

Embodiment 4

In concrete operations, for the ease of being collected conducting wire, avoid mutually winding or even knotting between conducting wire The case where, next use is influenced, therefore, under casing 1 is made improvements on the basis of embodiment 3, as a kind of preferred embodiment, As shown in Fig. 9 to Figure 12, third rectangular channel 5 is offered on the leading flank of under casing 1, is opened up on the rear side cell wall of third rectangular channel 5 There is the threading hole 50 being connected with cavity 14, opens up fluted 51 on the cell wall of two sides up and down of third rectangular channel 5, third rectangle Accommodating groove 52 is offered on the left side cell wall of slot 5, accommodating groove 52 is connected with groove 51, is equipped in third rectangular channel 5 around traditional thread binding 6 are set, bobbin winder device 6 includes the fixed column 60 being arranged on 5 rear side cell wall of third rectangular channel, if being closely welded in fixed column 60 The dry rectangular slab 61 annularly equidistantly arranged, rectangular slab 61 are arranged on the one side of 5 rear side cell wall of third rectangular channel There is spacing block set 62, is equipped with sliding connection plate 7 in groove 51, is slidably connected between sliding connection plate 7 and groove 51.

In the present embodiment, by the threading hole 50 of setting, convenient for conducting wire is pierced by from threading hole 50, then by conductor loop around It in fixed column 60, avoids the occurrence of conducting wire and arranges in a jumble, influence next use.

Specifically, the height of sliding connection plate 7 is greater than the height of third rectangular channel 5, the length of sliding connection plate 7 is greater than the The size of the length of three rectangular channels 5, accommodating groove 52 is adapted with the size of sliding connection plate 7, enables sliding connection plate 7 recessed Sliding in slot 51, and guarantee that sliding connection plate 7 can be received into accommodating groove 52 simultaneously.

Further, the quantity of fixed column 60 is preferably 4, the fixed column 60 of the quantity have been able to play by conducting wire to The effect of limit, if the quantity of fixed column 60 is excessive, it appears extra, quantity is very few, and influences conducting wire and be looped around fixed column 60 On stability.

In addition, there are gaps between spacing block set 62 and the rear side cell wall of third rectangular channel 5, conducting wire is set to be looped around solid On fixed column 60, avoids spacing block set 62 from contacting with the rear side cell wall of third rectangular channel 5, cause conducting wire that can not be looped around fixed column 60 On.

The novel and multifunctional seven-degree of freedom robot of the present embodiment when in use, by the sliding connection plate 7 of setting, makes Used time pushes sliding connection plate 7 to sliding connection plate 7 to be received into accommodating groove 52, then will be looped around leading in fixed column 60 Line removes use, after use finishes, conducting wire is continued to be looped around in fixed column 60, and push sliding connection plate 7 to Its left side is contacted with the right side cell wall of third rectangular channel 5, and sliding connection plate 7 effectively can prevent dust to be accumulated in conducting wire On, it solves the conducting wire on general novel and multifunctional seven-degree of freedom robot and is easy to happen asking for mutually winding even knotting Topic.

Embodiment 5

In concrete operations, for the ease of opening sliding connection plate 7, therefore, sliding is connected on the basis of embodiment 4 Fishplate bar 7 makes improvements, and as a kind of preferred embodiment, as shown in figure 13, offers thumb on the leading flank of sliding connection plate 7 and puts Enter slot 70.

The novel and multifunctional seven-degree of freedom robot of the present embodiment is put into slot 70 when in use, by the thumb of setting, will Thumb is put into thumb and is put into slot 70, then pushes sliding connection plate 7, makes to turn on or off sliding connection plate 7 more smoothly, Solve the problems, such as that the protection cap on general novel and multifunctional seven-degree of freedom robot is stubborn.

The novel and multifunctional seven-degree of freedom robot of the utility model when in use, holds pull rod 24, by connecting rod 23 from the The rear side face contact until idler wheel 233 and baffle 22 is pulled out in one rectangular channel 20, since under casing 1 is equipped with universal wheel 10, then is drawn The movement of under casing 1 can be realized in dynamic pull rod 24, when not needing mobile under casing 1, towards the direction of the first rectangular channel 20 by connecting rod 23 are received into the first rectangular channel 20, solve general novel and multifunctional seven-degree of freedom robot when in use, exist It is not easy to mobile problem；

In addition after hydraulic cylinder 30 being connected extraneous power supply, telescopic shaft thereon starts to extend or shorten, and drives top plate 31 move up and down along gag lever post 32, and the height of adjutage 11 is adjusted to realize, that is, realize the height to mechanical arm 12 Degree is adjusted, and gag lever post 32 plays the role of guiding and limit to the movement of top plate 31, guarantees top plate 31 in moving process In, it is more stable, solve the problems, such as that the height of general novel and multifunctional seven-degree of freedom robot is not adjustable；

Finally sliding connection plate 7 to sliding connection plate 7 is pushed to be received into accommodating groove 52, then fixed column 60 will be looped around On conducting wire remove use, after use finishes, conducting wire is continued to be looped around in fixed column 60, and close be slidably connected Plate 7, sliding connection plate 7 effectively can prevent dust to be accumulated on conducting wire, solve general novel and multifunctional seven certainly The problem of mutually winding even knots is easy to happen by the conducting wire in degree robot.

Basic principles, main features, and advantages of the present invention has been shown and described above.Current row The technical staff of industry is described in above embodiments and description it should be appreciated that the present utility model is not limited to the above embodiments Be only the utility model preference, be not intended to limit the utility model, do not departing from the spirit and scope of the utility model Under the premise of, the utility model also has various changes and improvements, these changes and improvements both fall within claimed it is practical In novel range.The protection scope of the present invention is defined by the appended claims and their equivalents.

Claims (10)

1. a kind of novel and multifunctional seven-degree of freedom robot, including under casing (1), the adjutage (11) being arranged under casing (1) with And several mechanical arms (12), it is characterised in that: pass through driving motor (13) between the mechanical arm (12) of adjacent two Connection, one of them described mechanical arm (12) are connect by driving motor (13) with adjutage (11), and the under casing (1) is equipped with Pulling apparatus (2), the pulling apparatus (2) include two symmetrical first be arranged on the under casing (1) right side Rectangular channel (20) offers sliding slot (21) on the left and right sides cell wall of first rectangular channel (20), and the sliding slot (21) is leaned on It is closely welded with baffle (22) on the cell wall of its nearly notch position, is equipped with connecting rod (23) in first rectangular channel (20), it is described It is mating between connecting rod (23) and first rectangular channel (20), pull rod (24) are equipped between two connecting rods (23), and It is external that the pull rod (24) is located at first rectangular channel (20).

2. novel and multifunctional seven-degree of freedom robot according to claim 1, it is characterised in that: the bottom of the under casing (1) There are four the universal wheels (10) for being in matrix arrangement for face setting.

3. novel and multifunctional seven-degree of freedom robot according to claim 1, it is characterised in that: the connecting rod (23) is separate The axis hole (231) being connected with the external world is offered in the one end body of rod of the pull rod (24), is equipped with and is turned in the axis hole (231) Two ends of axis (232), the shaft (232) are provided with idler wheel (233), and the idler wheel (233) is located at corresponding institute It states in sliding slot (21), the idler wheel (233) between shaft (232) and the connecting rod (23) by being rotatablely connected.

4. novel and multifunctional seven-degree of freedom robot according to claim 3, it is characterised in that: the shaft (232) Length is greater than the distance between two baffles (22) in first rectangular channel (20).

5. novel and multifunctional seven-degree of freedom robot according to claim 1, it is characterised in that: the under casing (1) it is interior Portion is equipped with cavity (14), and the second rectangular channel (141) being connected with the external world, the sky are offered on the roof of the cavity (14) Height adjustment device (3) are equipped in chamber (14), the height adjustment device (3) includes closely being welded on the cavity (14) bottom wall On hydraulic cylinder (30), the flexible shaft end of the hydraulic cylinder (30) is equipped with top plate (31), and the adjutage (11) is closely welded On the top plate (31), two symmetrical gag lever posts (32), institute are also closely welded on the bottom wall of the cavity (14) The top of gag lever post (32) is stated through the top plate (31) and also cross second rectangular channel (141).

6. novel and multifunctional seven-degree of freedom robot according to claim 5, it is characterised in that: two gag lever posts (32) top surface is closely welded with limit plate (4), and the adjutage (11) passes through the limit plate (4).

7. novel and multifunctional seven-degree of freedom robot according to claim 5, it is characterised in that: before the under casing (1) It offers third rectangular channel (5), is offered on the rear side cell wall of the third rectangular channel (5) and the cavity (14) phase on side The threading hole (50) of connection opens up fluted (51) on the cell wall of two sides up and down of the third rectangular channel (5), the third square It is offered on the left side cell wall of shape slot (5) accommodating groove (52), the accommodating groove (52) is connected with the groove (51).

8. novel and multifunctional seven-degree of freedom robot according to claim 7, it is characterised in that: the third rectangular channel (5) bobbin winder device (6) are equipped in, the bobbin winder device (6) includes setting consolidating on third rectangular channel (5) the rear side cell wall Fixed column (60) is closely welded with several rectangular slabs (61) annularly equidistantly arranged, the square on the fixed column (60) Shape plate (61) is provided with spacing block set (62) on the one side of cell wall on rear side of the third rectangular channel (5).

9. novel and multifunctional seven-degree of freedom robot according to claim 7, it is characterised in that: set in the groove (51) Have sliding connection plate (7), is slidably connected between the sliding connection plate (7) and the groove (51), the sliding connection plate (7) Leading flank on offer thumb and be put into slot (70).

10. novel and multifunctional seven-degree of freedom robot according to claim 9, it is characterised in that: the sliding connection plate (7) height is greater than the height of the third rectangular channel (5), and the length of the sliding connection plate (7) is greater than the third rectangle The size of the length of slot (5), the accommodating groove (52) is adapted with the size of the sliding connection plate (7).