CN105459105B - A kind of power-driven robot of seven axle five using parallelogram principle - Google Patents

Abstract

The invention provides a kind of power-driven robot of seven axle five using parallelogram principle, which raises the stability that workpiece is taken, and make it that the controllable scope of handgrip is big, the intense adjustment save trouble and labor of handgrip.It includes base, horizontal rotatable first axle is provided with the base, one end of the first axle is provided with the first axle servomotor for driving the first axle to rotate, the other end of first axle, which is connected with, waves arm component, first axle servomotor waves circuit oscillation of the arm component around the first axle described in being driven by driving the first axle to rotate, the free end for waving arm component is connected with the handgrip for grabbing workpiece, it is described wave that arm component includes being mutually hinged first wave arm component and second and wave arm component, two groups are waved arm component head and the tail and are hinged, and each group forms the articulated structure of two parallelogram, it is characterized in that：The handgrip includes laterally driven part, vertically to driving part, terminal handgrip.

Description

A kind of power-driven robot of seven axle five using parallelogram principle

Technical field

The present invention relates to the technical field of industrial robot, specially a kind of seven axles five using parallelogram principle are dynamic Power robot.

Background technology

Industrial robot automatic production line complete set of equipments as automated arm main flow robot development prospect and Following developing direction.The industries such as automobile industry, electronic enterprises, engineering machinery are largely automatic using industrial robot Metaplasia producing line, to ensure product quality, production efficiency is improved, while avoid substantial amounts of industrial accident.

At present, single armed swinging mechanical hand on the market, it is circular arc because it moves route, handgrip sucker is difficult to Horizontal rectilinear movement, in order to allow handgrip sucker keep level, the auxiliary of actuating unit is generally required, so can also be carried accordingly High manufacturing cost.And the transmission arm of existing manipulator is commonly single armed, its stability is relatively low, and manipulator is in moving process Easily produce and rock, have a strong impact on the control accuracy of manipulator, it is difficult to reach the accuracy requirement of people；And existing robot Handgrip can normally only play a part of clamping workpiece, and the regulation of direction and position is required to rocking arm and operated so that whole The controllable narrow range of the handgrip of robot, and the intense adjustment of handgrip position is wasted time and energy.

The content of the invention

In view of the above-mentioned problems, the invention provides a kind of power-driven robot of seven axle five using parallelogram principle, its It is hinged by waving arm component head and the tail by two groups, and each group forms the articulated structure of two parallelogram, and then ensure Robot can ensure that the workpiece of handgrip crawl is in horizontality all the time in the process of running, improve the stabilization that workpiece is taken Property, and make it that the controllable scope of handgrip is big, the intense adjustment save trouble and labor of handgrip.

A kind of power-driven robot of seven axle five using parallelogram principle, its technical scheme is such：It includes bottom , horizontal rotatable first axle is provided with the base, one end of the first axle is provided with the driving first axle and turned Dynamic first axle servomotor, the other end of the first axle, which is connected with, waves arm component, and the first axle servomotor passes through Drive and wave circuit oscillation of the arm component around the first axle, the Swing Arm group described in the first axle rotation and then drive The free end of part is connected with the handgrip for grabbing workpiece, it is described wave that arm component includes being mutually hinged first wave Arm component and second waves arm component, and two groups are waved arm component head and the tail and are hinged, and each group two parallelogram of formation Articulated structure, it is characterised in that：The handgrip includes laterally driven part, vertically to driving part, terminal handgrip, the transverse direction Driving part includes horizontal cross support, horizontal cross Power Component, described vertically to include to driving part vertically to power packages Part, vertically to support, the free end for waving arm component is fastenedly connected the horizontal cross support, the horizontal cross support The 6th axle horizontal cross track is inside provided with, it is described to be vertically loaded on the 6th axle horizontal cross track, the water to bracket clamp The output end connection of flat lateral dynamics component is described vertically to support, it is described vertically can be horizontal horizontal along the 6th axle to support Moved back and forth to track, it is described that the 7th axle is vertically provided with into support vertically to track, vertically to sliding block flush-mounted in described the Seven axles are described vertically to connect the terminal handgrip by connecting rod to sliding block vertically into track, described vertically to Power Component Output end connection it is described vertically to sliding block.

It is further characterized by：It is described wave that arm component includes being mutually hinged first wave arm component and the Two wave arm component, and described first waves the second axle that arm component includes being hinged on first shaft end, second axle Side is provided with two the first control-rods for assisting second axle to swing, two first control-rods and the second axle shape Into the articulated structure of parallelogram, the articulated structure of parallelogram is also formed between two first control-rods；It is described Second, which waves arm component, includes the 3rd axle and two the second control-rods, one end of the 3rd axle and the remote institute of second axle The one end for stating first axle is hinged, and the other end of the 3rd axle is hinged with the handgrip, and two second control-rods are cut with scissors respectively It is connected on the end of two first control-rods, two second control-rods form be hinged parallelogram sturcutre, two Be hinged parallelogram sturcutre is also formed between second control-rod and the 3rd axle；Second axle and described first It is provided with the second axle work module between axle, second axle work module is used to driving described second axially adjacent to or away from institute The direction for stating work pieces process position rotates；The 3rd axle work module is provided between 3rd axle and second axle, it is described 3rd axle work module is used to drive the described 3rd axially direction rotation closer or far from the work pieces process position, institute One end end for stating remote second axle of the 3rd axle is hinged with the 4th axle, and the 4th axle is provided with rotatable 5th axle, institute One end end for stating the horizontally toward described second control-rod side extension of the 5th axle is connected with parallel dead plate, described parallel solid The end of fixed board and second control-rod is articulated and connected；One end of remote second control-rod of 5th axle passes through institute State the 4th axle and be fixedly connected with the handgrip；

The horizontal cross Power Component includes flexible axle servomotor, motor output flexible shaft, active synchronization wheel, driven synchronization Wheel, timing belt, the flexible axle servomotor connect the active synchronization wheel by motor output flexible shaft, the active synchronization wheel, By the synchronous band connection between driven synchronizing wheel, what the timing belt was located at the horizontal cross support is transversely mounted groove Interior, the active synchronization wheel, driven synchronizing wheel are respectively arranged in outside the end positions for being transversely mounted groove, the timing belt Side end face is fastenedly connected with vertically to support, the 6th axle horizontal cross rail for being vertically installed in evagination simultaneously to support Road, flexible axle servomotor driving active synchronization wheel rotate, and then drive timing belt to drive vertically to support along the 6th axle Horizontal cross track horizontal transverse movement so that terminal handgrip can be in horizontal transverse movement, it is ensured that the work of whole robot Scope is wider；

Horizontal balance weight is provided with the horizontal cross support, it is ensured that stabilization when total works；

In the internal cavity of the horizontal cross support, the horizontal balance weight passes through flat the horizontal balance weight Weighing apparatus block connecting plate is fastenedly connected the 6th axle horizontal cross track so that the 6th axle horizontal cross track connection and reasonable arrangement, and structure is steady It is fixed；

The flexible axle servomotor is installed in the 3rd axle, and the length of the motor output flexible shaft ensures the normal work of robot Make and will not wind；

It is described vertically to Power Component be specially vertically to cylinder, it is described be vertically installed in cylinder it is described vertically to branch Frame, the piston rod connection vertically to cylinder are described vertically to sliding block, vertically to sliding block in the vertically drive lower edge to cylinder The 7th axle vertically to move up and down to track so that terminal handgrip can carry out intense adjustment in vertical direction；

The opening position for being away from the second axle of the first axle is provided with gravitational equilibrium block, when the first axle does not rotate, The center of gravity of the gravitational equilibrium block, perpendicular to horizontal plane, can be such that driving power accordingly subtracts with the plane where the first axle axis It is small, to reduce power consumption；

Damping braking mechanism is provided with away from the second the tip of the axis in the first axle, it can be according to the acquiring size of corner not Same damping force, to reduce the movement inertia of first axle；

The second axle work module includes the second axle work push rod, and one end of the second axle work push rod is hinged on institute State on the second axle, the other end is hinged on the first sliding block, first sliding block be arranged on the second axle work module guide rail in, First sliding block does linear reciprocal fortune by the work module servomotor driving of the second axle along the axis direction of the first axle It is dynamic；

First sliding block be connected by the work tail end of module of damping spring group and second axle, so as to reduce the Two axles move to the gravity and movement inertia at -45 °~-80 °, and then reduce the driving force of the second axle work module, save energy Source so that operation energy consumption is small；

The 3rd axle work module includes the 3rd axle work push rod, and one end of the 3rd axle work push rod is hinged on institute State on the 3rd axle, the other end is hinged on the second sliding block, second sliding block be arranged on the 3rd axle work module guide rail Interior, second sliding block is done linear reciprocal by the work module servomotor driving of the 3rd axle along the axis direction of the 3rd axle Motion；

The inside upper part of second axle is provided with damping spring plate, and the damping spring plate is in the 3rd axle position in the second axle Angulation be -45 °~-90 ° work, in the 3rd axle relative to the second axle position in different angle when produce different dampings, to subtract The gravity and movement inertia of few 3rd axle, the driving force of the 3rd axle work module is reduced, save the energy so that operation energy consumption is small；

The first axle is set by two wall-panels supports being vertically set on the base, two wallboard parallel intervals Put, the gravitational equilibrium block is arranged on the centre of two wallboards.

The axis of the axis of the second axle work push rod, the axis of the 3rd axle work push rod and the first axle is equal In being generally aligned in the same plane；

The base is fastened with parallelogram support base, the first connecting shaft branch positioned at the protrusion side of the first axle Hold in the upper surface of the parallelogram fulcrum bearing, the bottoms of two parallel first control-rods is hingedly connected to described First connecting shaft, the articulated position of the 3rd axle and second axle are fitted with jointed shaft, and the jointed shaft is provided with lordosis Center nose bar, the center nose bar, the front end of the center nose bar is provided with connection pedestal, the connection pedestal, middle cardiac prominence Bar, jointed shaft three form an entirety, and the upper ends of two parallel first control-rods is articulated and connected the connection pedestal, The lower end of two parallel second control-rods is articulated and connected the connection pedestal；

The front end of the connection pedestal is respectively arranged with two parallel connecting shafts, and it is respectively：Second positioned at bottom connects Spindle, superposed 3rd connecting shaft, the upper end of two parallel first control-rods are hingedly connected described second Connecting shaft, the lower end of two parallel second control-rods are hingedly connected the 3rd connecting shaft.

After adopting the above technical scheme, it is hinged by waving arm component head and the tail by two groups, and each group forms two The articulated structure of parallelogram, and then ensure that robot can ensure that the workpiece of handgrip crawl is in all the time in the process of running Horizontality, improves the stability that workpiece is taken, and special is used to drive workpiece without set as traditional robot Horizontal power drive unit, therefore the energy can be saved, and overall structure is simple, cost is relatively low；And because handgrip has simultaneously Descend for horizontal transverse movement function and vertically upward locomotive function so that the controllable scope of handgrip is big, the fine tune of handgrip Whole save trouble and labor；Whole robot possesses five power, including two groups are waved the power of arm component, first axle servomotor and grabbed The horizontal cross power of hand, vertically to power, greatly improve the flexibility of handgrip and operable scope.

Brief description of the drawings

Fig. 1 is the main view schematic diagram of the present invention；

Fig. 2 is the three-dimensional figure structure schematic representation (having carried out section view to base 1) of the present invention；

Title in figure corresponding to sequence number is as follows：

Base 1, gravitational equilibrium block 2, first axle 3, the second axle work module 4, first axle servomotor 5, first axle are slowed down It is device 6, the first sliding block 7, the second axle work module servomotor 8, dust cover 9, the second axle work push rod 10, handgrip 12, parallel solid Fixed board 14, the 5th axle 15, the 4th axle 16, the second control-rod 18, the 3rd axle 19, horizontal cross support 20, the first control-rod 21, Two axles 22, the 3rd axle work push rod 23, the second sliding block 24, the 3rd axle work module 25, the 3rd axle work module servomotor 26, Vertically to support 29, the 6th axle horizontal cross track 30, the 7th axle vertically to track 31, vertically to sliding block 32, connecting rod 33, end Hold handgrip 34, flexible axle servomotor 35, motor output flexible shaft 36, active synchronization wheel 37, driven synchronizing wheel 38, timing belt 39, horizontal stroke To mounting groove 40, horizontal balance weight 41, internal cavity 42, balance weight connecting plate 43, vertically to cylinder 44, damping braking mechanism 45th, damping spring group 46, damping spring plate 47, parallelogram support base 48, the first connecting shaft 49, jointed shaft 50, middle cardiac prominence Bar 51, connection pedestal 52, the second connecting shaft 53, the 3rd connecting shaft 54.

Embodiment

The present invention is further described with reference to the accompanying drawings and examples, and the direction of arrow is the rotation side of corresponding component in figure To.

A kind of power-driven robot of seven axle five using parallelogram principle, see Fig. 1, Fig. 2：It includes base 1, base 1 On be provided with horizontal rotatable first axle 3, one end of first axle 3 is provided with the first axle servo electricity that driving first axle 3 rotates Machine 5, the other end of first axle, which is connected with, waves arm component, and first axle servomotor 5 is by driving first axle 3 to rotate to drive Circuit oscillation of the arm component around first axle 3 is waved, the free end for waving arm component is connected with handgrip for grabbing workpiece, shakes What swing arm unit included being mutually hinged first waves arm component and second and waves arm component, and first, which waves arm component, includes The second axle 22 of the first shaft end is hinged on, the side of the second axle 22 is provided with two the first control-rods for assisting the second axle to swing 21, two the first control-rods 21 and the second axle 22 form the articulated structure of parallelogram, between two the first control-rods 21 Form the articulated structure of parallelogram；Second, which waves arm component, includes the 3rd axle 19 and two the second control-rods 18, the 3rd axle 19 one end and one end of the remote first axle 3 of the second axle 22 are hinged, and the other end of the 3rd axle 19 is hinged with handgrip, two second Control-rod 18 is respectively hinged at the end of two the first control-rods 21, and two the second control-rods 18 form be hinged parallelogram Structure, be hinged parallelogram sturcutre is also formed between two the second control-rods 18 and the 3rd axle 19；Second axle 22 and first The second axle work module 4 is provided between axle 3, the second axle work module 4 is used to drive the second axle 22 to closer or far from workpiece The direction of Working position rotates；The 3rd axle work module 25, the 3rd axle Working mould are provided between 3rd axle 19 and the second axle 22 Group 25 is used to drive the 3rd axle 19 to the direction rotation closer or far from work pieces process position, remote second axle 22 of the 3rd axle 19 One end end be hinged with the 4th axle 16, the 4th axle 16 may be provided with rotatable 5th axle 15, and the 5th axle 15 is horizontally toward One end end of the side of second control-rod 18 extension is connected with parallel dead plate 14, the control-rod 18 of parallel dead plate 14 and second End is articulated and connected；One end away from the second control-rod 18 of 5th axle 15 is fixedly connected through the 4th axle 16 and with handgrip 12.

The handgrip 12 of robot includes laterally driven part, vertically to driving part, terminal handgrip 34, laterally driven part Including horizontal cross support 20, horizontal cross Power Component, vertically include to driving part vertically to Power Component, vertically to branch Frame 29, the 5th axle 15 are fastenedly connected horizontal cross support 20 after passing through the 4th axle 16, the 6th are provided with horizontal cross support 20 Axle horizontal cross track 30, be vertically installed in the 6th axle horizontal cross track 30 to support 29, horizontal cross Power Component it is defeated Go out end connection vertically to support 29, can vertically be moved back and forth to support 29 along the 6th axle horizontal cross track 30, vertically to branch The 7th axle is provided with frame 29 vertically to track 31, vertically to sliding block 32 flush-mounted in the 7th axle vertically into track 31, vertically to Sliding block 32 connects terminal handgrip 34 by connecting rod 33, is vertically connected to the output end of Power Component vertically to sliding block 32；

The length of 6th axle horizontal cross track 30 is 1500mm；

Horizontal cross Power Component includes flexible axle servomotor 35, motor output flexible shaft 36, active synchronization wheel 37, driven same Step wheel 38, timing belt 39, flexible axle servomotor 35 connect active synchronization wheel 37, active synchronization wheel by motor output flexible shaft 36 37th, connected between driven synchronizing wheel 38 by timing belt 39, what timing belt 39 was located at horizontal cross support 20 is transversely mounted groove 40 Interior, active synchronization wheel 37, driven synchronizing wheel 38 are respectively arranged in the end positions for being transversely mounted groove 40, the outboard end of timing belt 39 Face is fastenedly connected with vertically to support 29, is vertically installed in the 6th axle horizontal cross track 30 of evagination simultaneously to support 29, soft Axle servomotor 35 drives active synchronization wheel 37 to rotate, and then drives timing belt 38 to drive vertically to support 29 along the 6th axle water The flat horizontal transverse movement of cross track 30 so that terminal handgrip 34 can be in horizontal transverse movement, it is ensured that the work of whole robot It is wider to make scope；

Horizontal balance weight 41 is provided with horizontal cross support 20, it is ensured that stabilization when total works；

For horizontal balance weight 41 in the internal cavity 42 of horizontal cross support 20, horizontal balance weight 41 passes through balance weight Connecting plate 43 is fastenedly connected the 6th axle horizontal cross track 30 so that the connection and reasonable arrangement of the 6th axle horizontal cross track 30, and structure It is stable；

Flexible axle servomotor 35 is installed in the 3rd axle 19, and the length of motor output flexible shaft 36 ensures the normal work of robot Make and will not wind；

It is specially vertically vertically to cylinder 44 to Power Component, is vertically installed in vertically to the upper end of support 29 to cylinder 44 Face, vertically connected to the piston-rod lower end of cylinder 44 vertically to sliding block 32, vertically to sliding block 32 in the vertically drive to cylinder 44 Under vertically moved up and down along the 7th axle to track 31 so that terminal handgrip 34 can vertical direction carry out intense adjustment, Robot terminal handgrip 34 moves up and down 0~100mm, is easy to robot to be not required to employ each of robot when grabbing, putting workpiece Servomotor power, with the service life for reducing power consumption of the robot in normal work and extending each motor；

The opening position for being away from the second axle 22 of first axle 3 is provided with gravitational equilibrium block 2, when first axle 3 does not rotate, gravity The center of gravity of balance weight 2, perpendicular to horizontal plane, can be such that driving power accordingly reduces, to reduce with the plane where the axis of first axle 3 Power consumption；

Damping braking mechanism 45 is provided with end of the first axle 3 away from the second axle 22, it can be according to the acquiring size of corner Different damping force, to reduce the movement inertia of first axle；

Second axle work module 4 includes the second axle work push rod 10, and the second axle work push rod 10 one end is hinged on the second axle On 22, the other end be hinged on the first sliding block 7, the first sliding block 7 be arranged on the second axle work module 4 guide rail in, first Sliding block 7 drives the axis direction along first axle 3 to do linear reciprocal movement by the second axle work module servomotor 8；

First sliding block 7 is connected by damping spring group 46 with the tail end of the second axle work module 4, so as to reduce by the second axle Gravity and movement inertia when moving to -45 °~-80 °, and then the driving force of the second axle work module 4 is reduced, the energy is saved, So that operation energy consumption is small；

3rd axle work module 25 includes the 3rd axle work push rod 23, and the 3rd axle work push rod 23 one end is hinged on the 3rd axle On 19, the other end be hinged on the second sliding block 24, the second sliding block 24 is arranged in the guide rail of the 3rd axle work module 25, the Two sliding blocks 24 drive 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 second axle 22 is provided with damping spring plate 47, and damping spring plate 47 is located at the second axle in the 3rd axle 19 22 angulations are -45~-90 ° and worked, and different dampings is produced when the 3rd axle 19 is located at different angle relative to the second axle 22, To reduce the gravity and movement inertia of the 3rd axle 19, the driving force of the 3rd axle work module 25 is reduced, saves the energy so that operation Energy consumption is small；

Axis, the axis of the 3rd axle work push rod 23 and the axis of first axle 3 of second axle work push rod 10 are respectively positioned on together In one plane；

Base 1 is fastened with parallelogram support base 48 positioned at the protrusion side of first axle 3, and the first connecting shaft 49 supports In the upper surface of parallelogram fulcrum bearing 48, the bottom of two the first parallel control-rods 21 is hingedly connected to the first connecting shaft 49, the articulated position of the 3rd axle 19 and the second axle 22 is fitted with jointed shaft 50, and jointed shaft 50 is provided with the center nose bar 51 of lordosis, The front end of center nose bar 51 is provided with connection pedestal 52, and connection pedestal 52, center nose bar 51, the three of jointed shaft 50 formation one are whole Body, the upper end of two the first parallel control-rods 21, which is articulated and connected, connects pedestal 52, under two the second parallel control-rods 18 End, which is articulated and connected, connects pedestal 52；

5th axle 15, center nose bar 51, the three of first axle 3 are parallel to arrangement, it is ensured that two groups wave arm component head and the tail it is mutual It is be hinged, and each group forms the articulated structure of two parallelogram；

The front end of connection pedestal 52 is respectively arranged with two parallel connecting shafts, and it is respectively：The second connection positioned at bottom Axle 53, superposed 3rd connecting shaft 54, the upper end of two the first parallel control-rods 21 are hingedly connected the second connection Axle 53, the lower end of two the second parallel control-rods 18 are hingedly connected the 3rd connecting shaft 54；

First axle decelerator 6 in specific embodiment two is specially gear-box；

Terminal handgrip 34 laterally can move left and right 1500mm by the driving of flexible axle servomotor 35 in specific embodiment two, And can be in the vertically 100mm to above and below moving by vertically being driven to cylinder 44, it causes the terminal handgrip 34 of whole robot Working range is bigger, is more suitable for the work of modernization；

Dust cover 9 can be installed on base additional, for dust-proof.

The seven axles robot includes five power：First axle servomotor 5, the second axle work module 4, the 3rd axle work module 25th, flexible axle servomotor 35, vertically to cylinder 44, greatly improve the flexibility of handgrip and operable scope.

The specific embodiment of the present invention is described in detail above, but content is only the preferable implementation of the invention Example, it is impossible to be considered as the practical range for limiting the invention.All impartial changes made according to the invention application range Change and improvement etc., all should still it belong within the patent covering scope of the present invention.

Claims (10)

1. a kind of power-driven robot of seven axle five using parallelogram principle, it includes base, water is provided with the base Rotatable first axle is equalled, one end of the first axle is provided with the first axle servomotor for driving the first axle to rotate, institute The other end for stating first axle is connected with and waves arm component, the first axle servomotor by drive the first axle to rotate and then Circuit oscillation of the arm component around the first axle is waved described in drive, the free end for waving arm component is connected with for grabbing Take the handgrip of workpiece, it is described wave that arm component includes being mutually hinged first wave arm component and the second Swing Arm group Part, two groups are waved arm component head and the tail and are hinged, and each group forms the articulated structure of two parallelogram, it is characterised in that： The handgrip includes laterally driven part, vertically includes horizontal cross to driving part, terminal handgrip, the laterally driven part Support, horizontal cross Power Component, it is described vertically to include to driving part vertically to Power Component, vertically to support, it is described to shake The free end of swing arm unit is fastenedly connected the horizontal cross support, and it is horizontal horizontal that the 6th axle is provided with the horizontal cross support It is described to be vertically loaded on the 6th axle horizontal cross track, the output of the horizontal cross Power Component to bracket clamp to track End connection is described vertically to support, described vertically to be moved back and forth to support along the 6th axle horizontal cross track, described The 7th axle is vertically provided with into support vertically to track, is vertically flush-mounted in the 7th axle vertically into track to sliding block, institute State and the terminal handgrip is vertically connected by connecting rod to sliding block, the output end connection vertically to Power Component is described vertical To sliding block, it is described wave that arm component includes being mutually hinged first wave arm component and second and wave arm component, it is described First waves the second axle that arm component includes being hinged on first shaft end, and the side of second axle is provided with described in assistance Two the first control-rods that second axle is swung, two first control-rods form the be hinged of parallelogram with second axle Structure, the articulated structure of parallelogram is also formed between two first control-rods；Described second, which waves arm component, includes 3rd axle and two the second control-rods, one end of the 3rd axle and one end of the remote first axle of second axle are cut with scissors Connect, the other end of the 3rd axle is hinged with the handgrip, and two second control-rods are respectively hinged at two described first The end of control-rod, two second control-rods form be hinged parallelogram sturcutre, two second control-rods with Be hinged parallelogram sturcutre is also formed between 3rd axle；Second is provided between second axle and the first axle Axle works module, and second axle work module is used to driving described second axially adjacent to or away from the work pieces process position Direction rotates；The 3rd axle work module is provided between 3rd axle and second axle, the 3rd axle work module is used In driving the described 3rd, axially the direction closer or far from the work pieces process position rotates, the remote institute of the 3rd axle One end end for stating the second axle is hinged with the 4th axle, and the 4th axle is provided with rotatable 5th axle, the horizontal court of the 5th axle One end end extended to the second control-rod side is connected with parallel dead plate, the parallel dead plate and the described second control The end of bar processed is articulated and connected；One end of remote second control-rod of 5th axle through the 4th axle and with it is described Handgrip is fixedly connected；The horizontal cross Power Component include flexible axle servomotor, motor output flexible shaft, active synchronization wheel, from Dynamic synchronizing wheel, timing belt, the flexible axle servomotor connect the active synchronization wheel by motor output flexible shaft, and the active is same By the synchronous band connection between step wheel, driven synchronizing wheel, the timing belt is located at the horizontal peace of the horizontal cross support In tankage, the active synchronization wheel, driven synchronizing wheel are respectively arranged in the end positions for being transversely mounted groove, the timing belt End face outside be fastenedly connected with vertically to support, it is described be vertically installed in evagination simultaneously to support the 6th axle it is horizontal horizontal To track, flexible axle servomotor driving active synchronization wheel rotates, and then drives timing belt to drive vertically to support along the Six axle horizontal cross track horizontal transverse movements；Horizontal balance weight, the laterally balance are provided with the horizontal cross support For block in the internal cavity of the horizontal cross support, the horizontal balance weight is fastenedly connected the by balance weight connecting plate Six axle horizontal cross tracks.

A kind of 2. power-driven robot of seven axle five using parallelogram principle as claimed in claim 1, it is characterised in that：Institute State flexible axle servomotor and be installed in the 3rd axle.

A kind of 3. power-driven robot of seven axle five using parallelogram principle as claimed in claim 1, it is characterised in that：Institute State vertically to Power Component be specially vertically to cylinder, it is described be vertically installed in cylinder it is described vertically to support, it is described vertical Piston rod connection to cylinder is described vertically to sliding block, vertically to sliding block under the vertically drive to cylinder it is vertical along the 7th axle Moved up and down to track.

A kind of 4. power-driven robot of seven axle five using parallelogram principle as claimed in claim 1, it is characterised in that：Institute The opening position for being away from the second axle for stating first axle is provided with gravitational equilibrium block, and when the first axle does not rotate, the gravity is put down The center of gravity of weighing apparatus block is with the plane where the first axle axis perpendicular to horizontal plane.

A kind of 5. power-driven robot of seven axle five using parallelogram principle as claimed in claim 1, it is characterised in that： The first axle is provided with damping braking mechanism away from the second the tip of the axis.

A kind of 6. power-driven robot of seven axle five using parallelogram principle as claimed in claim 1, it is characterised in that：Institute Stating the second axle work module includes the second axle work push rod, and one end of the second axle work push rod is hinged on second axle The upper, other end is hinged on the first sliding block, and first sliding block is arranged in the guide rail of the second axle work module, and described first Sliding block does linear reciprocal movement by the work module servomotor driving of the second axle along the axis direction of the first axle；Described One sliding block is connected by damping spring group with the tail end of second axle work module.

A kind of 7. power-driven robot of seven axle five using parallelogram principle as claimed in claim 6, it is characterised in that：Institute Stating the 3rd axle work module includes the 3rd axle work push rod, and one end of the 3rd axle work push rod is hinged on the 3rd axle The upper, other end is hinged on the second sliding block, and second sliding block is arranged in the guide rail of the 3rd axle work module, and described the Two sliding blocks do linear reciprocal movement by the work module servomotor driving of the 3rd axle along the axis direction of the 3rd axle；It is described The inside upper part of second axle is provided with damping spring plate.

A kind of 8. power-driven robot of seven axle five using parallelogram principle as claimed in claim 7, it is characterised in that：Institute The axis, the axis of the 3rd axle work push rod and the axis of the first axle for stating the second axle work push rod are respectively positioned on same put down In face.

A kind of 9. power-driven robot of seven axle five using parallelogram principle as claimed in claim 1, it is characterised in that：Institute That states base is fastened with parallelogram support base positioned at the protrusion side of the first axle, and the first connecting shaft is supported on described flat The upper surface of row quadrangle fulcrum bearing, the bottom of two parallel first control-rods are hingedly connected to first connection Axle, the articulated position of the 3rd axle and second axle are fitted with jointed shaft, and the jointed shaft is provided with the middle cardiac prominence of lordosis Bar, the center nose bar, the front end of the center nose bar are provided with connection pedestal, the connection pedestal, center nose bar, jointed shaft Three forms an entirety, and the upper ends of two parallel first control-rods is articulated and connected the connection pedestal, and two parallel The lower end of second control-rod be articulated and connected the connection pedestal.

A kind of 10. power-driven robot of seven axle five using parallelogram principle as claimed in claim 9, it is characterised in that： The front end of the connection pedestal is respectively arranged with two parallel connecting shafts, and it is respectively：The second connecting shaft positioned at bottom, it is located at 3rd connecting shaft on top, the upper ends of two parallel first control-rods are hingedly connected second connecting shaft, and two The lower end of parallel second control-rod of root is hingedly connected the 3rd connecting shaft.