CN212044723U

CN212044723U - Heavy-load universal multi-joint robot with spring balance cylinder device

Info

Publication number: CN212044723U
Application number: CN202020515690.5U
Authority: CN
Inventors: 王星; 杨医华
Original assignee: Borunte Robot Co Ltd
Current assignee: Borunte Robot Co Ltd
Priority date: 2020-04-10
Filing date: 2020-04-10
Publication date: 2020-12-01
Anticipated expiration: 2030-04-10

Abstract

The utility model belongs to the technical field of the industrial robot technique and specifically relates to a take spring balance cylinder device's general type articulated robot of heavy load, include: the rotary seat is placed on the base and connected through a shaft RV reducer, and is driven by a shaft motor to drive the whole robot body to rotate; the five shafts are connected with four shafts of the three four shafts through four-shaft RV speed reducers, and the four-shaft motor drives the four-shaft RV speed reducers to rotate around the four shafts in the positive direction; the six shaft is connected with the left side of the five shafts through a five-shaft speed reducer, and a five-shaft motor drives the gear set and drives the five-shaft speed reducer to rotate around the five shafts; the tail end of the six shafts is fixed with a six-shaft RV reducer, and the tail end of the reducer is connected with a reducer connecting plate; the middle part of the spring steel part is fixed at one end of the rotary seat by a spring cylinder body supporting shaft, and the end part of the spring steel part is connected with the end of the large arm. The utility model discloses, its big load capacity mainly is applicable to scenes such as transport, pile up neatly, unstacking, unloading, assembly.

Description

Heavy-load universal multi-joint robot with spring balance cylinder device

Technical Field

The utility model relates to an industrial robot technical field specifically is a take spring balance cylinder device's general type articulated robot of heavy load.

Background

With the increasing of the demands of industrial robots in the market and the increasing of the demands, the load weight of the robots in the market is in the range of dozens of kilograms, and the requirements of customers on carrying objects with larger mass and production cannot be met; simultaneously the robot arm exhibition of equal load is less, can't satisfy again that the customer carries on a large scale and get the material demand, and six all-purpose robots of heavy load that use also ubiquitous some problems on the market at present simultaneously, wherein include: heavy volume, complex installation, low precision, low efficiency, difficult maintenance, poor safety and the like.

SUMMERY OF THE UTILITY MODEL

An object of the utility model is to provide a take spring balance cylinder device's general type articulated robot of heavy load to solve the problem that provides among the above-mentioned background art.

In order to achieve the above object, the utility model provides a following technical scheme:

a heavy-load universal multi-joint robot with a spring balance cylinder device comprises:

the base is positioned at the bottommost part of the robot;

the rotary seat is placed on the base and connected through a shaft RV reducer, and is driven by a shaft motor to drive the whole robot body to rotate;

the large arm is fixed on the left side of the rotary seat and connected through a two-axis RV reducer, and the two-axis motor drives the two-axis RV reducer to rotate to drive the large arm to rotate up and down in the space and to rotate back and forth along with the two-axis rotary seat;

three shafts of the three-four shafts are connected with the large arm through a three-shaft RV reducer, and the three-shaft RV reducer is driven by a three-shaft motor to rotate back and forth along with the large arm;

the five shafts are connected with four shafts of the three four shafts through four-shaft RV speed reducers, and the four-shaft motor drives the four-shaft RV speed reducers to rotate around the four shafts in the positive direction;

the six shaft is connected with the left side of the five shafts through a five-shaft speed reducer, and a five-shaft motor drives the gear set and drives the five-shaft speed reducer to rotate around the five shafts;

the tail end of the six shafts is fixed with a six-shaft RV reducer, and the tail end of the reducer is connected with a reducer connecting plate;

the middle part of the spring steel part is fixed at one end of the rotary seat by a spring cylinder body supporting shaft, and the end part of the spring steel part is connected with the end of the large arm.

Further, the base includes the base body, an axle RV speed reducer is installed on the base body, and the middle part is equipped with an axle spool, the side of base body is equipped with power and data line interface.

Further, the swivel mount includes swivel mount body, bellows fixation clamp I and cable fixation clamp, the swivel mount body is located directly over the base body, and runs through perpendicularly and install a motor, a motor is connected with an RV speed reducer drive, two-axis motor and two-axis RV speed reducer drive are connected to transversely install on the tripod, the tripod is fixed with the swivel mount body, bellows fixation clamp I is located the side of swivel mount body, the cable fixation clamp is located on the tripod and runs through the swivel mount body.

Furthermore, the big arm comprises a big arm body, a spring cylinder shaft and a corrugated pipe fixing clamp II, and the big arm body is rotatably installed on the left side of the tripod through the spring cylinder shaft at the bottom.

Further, three four-axis include three four-axis bodies and cable fixing base, three shaft motor installs in the bottom of three four-axis bodies to the drive is connected three-axis RV speed reducer, three-axis RV speed reducer installs the top at the big arm body, three four-axis body covers are equipped with four shaft motor, four shaft motor front end has the four-axis connecting plate, the cable fixing base is installed at three four-axis body outer walls.

Furthermore, the five shafts comprise a five shaft body, the rear end of the five shaft body is fixed with a four shaft connecting plate, the five shaft motor is installed at the front end of the five shaft body, a bevel gear set and a five shaft speed reducer connecting shaft are installed at the front end of the five shaft body, and the five shaft motor is connected with a five shaft speed reducer through a bevel gear set in a driving mode.

Furthermore, five-axis body has the five side covers of adaptation, bevel gear group's tip has the gear gland to bevel gear group passes through the gear and supports on the lid installs five-axis body, five speed reducer connecting axle passes through the bearing mount pad and installs on five-axis body to the bearing mount pad has the bearing gland, cable fixed plate I is installed to five-axis body's outer wall.

Further, six are including six body and cable fixed plate II, six motors are installed to six body, six RV speed reducers are connected with six motor drive, the cable fixed plate II is installed in six body outsides.

Further, the spring steel part includes spring cylinder body, spring cylinder optical axis and spring cylinder end cover, the front end cartridge of spring cylinder optical axis is to the spring cylinder body in, and installs spring cylinder end cover, is located the spring cylinder optical axis in the spring cylinder body and overlaps and be equipped with the spring, the end of spring cylinder optical axis passes through the terminal looks switching of spring cylinder optical axis seat and big arm.

Further, a spring cylinder top cover is installed at the tail end of the spring cylinder body, a spring cylinder body sealing body cover is installed at the front end of the spring cylinder body, the tail end of the spring is connected with the spring cylinder top cover in an abutting mode, the front end of the spring cylinder end cover is connected with the spring cylinder end cover in an abutting mode, a locking nut connected with the front end of the spring cylinder body is installed at the front end of the spring cylinder end cover, a locking nut is installed on the locking nut, two groups of symmetrical spring cylinder body supporting shafts are arranged, and a deep groove ball bearing is sleeved on the two groups of.

Compared with the prior art, the beneficial effects of the utility model are that:

take spring balance cylinder device's heavy load universal multi-joint robot be the heavy load six universal robot of the big arm exhibition of high accuracy, the advantage of comparing with six universal robot of traditional heavy load is:

1. low cost and simple installation: structurally, the balance cylinder device (spring steel part) which is easy to disassemble is adopted, so that the structure is more compact and simpler, the number of parts is less, the installation is more convenient, and the cost is lower.

2. Efficiency and precision are high: because the base, the rotary seat, the big arm, the five shafts and the like are matched, the arm spread is large, and large-range actions can be realized; the response speed is high, the movement is flexible, and the working efficiency is higher; the precision is high, and the location is accurate.

3. Convenient maintenance and high safety factor: an axle is crossed and is set up spool and bellows fixation clamp, adopts inside and outside line combination of walking, uses and maintains the facility to for RV servo motor has increased dynamic braking device, real-time supervision, the accident that the prevention motor band-type brake became invalid or the power is closed suddenly and is aroused.

4. The application field is wide: the large load capacity of the stacking machine is mainly suitable for scenes such as carrying, stacking, unstacking, loading and unloading, assembling and the like.

Drawings

Fig. 1 is a schematic view of the appearance structure of the whole machine of the present invention.

Fig. 2 is an explosion diagram of the whole machine of the present invention.

Fig. 3 is a schematic view of the base structure of the present invention.

Fig. 4 is a schematic view of the structure of the swivel base of the present invention.

Fig. 5 is a schematic view of the structure of the large arm of the present invention.

Figure 6 is the structure schematic diagram of the utility model discloses three four-axis body.

Fig. 7 is the structure diagram of the five-axis body of the present invention.

Fig. 8 is a schematic view of the structure of the six-shaft body of the present invention.

Fig. 9 is a schematic structural view of the spring steel part of the present invention.

In the figure: 1-base, 1-1-base body, 1-2-one-shaft RV reducer, 1-3-one-shaft line passing pipe, 1-4-power and data line interface, 2-swivel, 2-1-two-shaft motor, 2-2-swivel body, 2-3-two-shaft RV reducer, 2-4-one-shaft motor, 2-5-corrugated pipe fixing clamp I, 2-6-cable fixing clamp, 2-7-tripod, 3-big arm, 3-1-big arm body, 3-2-spring cylinder shaft, 3-3-corrugated pipe fixing clamp II, 3-4-anticollision block, 4-three-four-shaft, 4-1-three-shaft motor, 4-2-three-shaft RV reducer, 4-3-four-axis motor, 4-4-four-axis connecting plate, 4-5-cable fixing seat, 4-6-four-axis RV speed reducer, 4-7-three-four-axis body, 5-five axis, 5-1-five axis body, 5-2-five axis side cover, 5-3-five axis motor, 5-4-gear supporting cover, 5-5-bevel gear set, 5-6-gear gland, 5-7-five axis speed reducer, 5-8-bearing gland, 5-9-bearing mounting seat, 5-10-cable fixing plate I, 6-six axis, 6-1-six axis body, 6-2-six axis motor, 6-3-speed reducer connecting plate, 6-5-four axis RV speed reducer, 5-five axis RV speed reducer, 5-1-five axis body, The device comprises a 6-4-six-shaft RV speed reducer, a 6-5-cable fixing plate II, a 7-spring steel part, a 7-1-spring cylinder optical axis seat, a 7-2-spring cylinder body, a 7-3-spring, a 7-4-spring cylinder optical axis, a 7-5-spring cylinder top cover, a 7-6-snap spring, a 7-7-deep groove ball bearing, a 7-8-spring cylinder body supporting shaft, a 7-9-spring cylinder end cover and a 7-10-locking nut.

Detailed Description

The technical solutions in the embodiments of the present invention will be described clearly and completely with reference to the accompanying drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only some embodiments of the present invention, not all embodiments. Based on the embodiments in the present invention, all other embodiments obtained by a person skilled in the art without creative work belong to the protection scope of the present invention.

In the description of the present invention, it should be noted that the terms "upper/lower end", "inner", "outer", "front end", "rear end", "both ends", "one end", "the other end" and the like indicate the orientation or positional relationship based on the orientation or positional relationship shown in the drawings, and are only for convenience of description and simplification of description, but do not indicate or imply that the device or element referred to must have a specific orientation, be constructed in a specific orientation, and be operated, and thus, should not be construed as limiting the present invention. Furthermore, the terms "first" and "second" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance.

In the description of the present invention, it should be noted that, unless explicitly stated or limited otherwise, the terms "mounted," "disposed/sleeved," "connected," and the like are to be construed broadly, e.g., "connected," which may be fixedly connected, detachably connected, or integrally connected; can be mechanically or electrically connected; they may be connected directly or indirectly through intervening media, or they may be interconnected between two elements. The specific meaning of the above terms in the present invention can be understood in specific cases to those skilled in the art.

Referring to fig. 1-9, the present invention provides a technical solution:

the base 1 is positioned at the bottommost part of the robot and plays a role in fixing and supporting the machine platform;

the rotary seat 2 is placed on the base 1 and connected through a shaft RV reducer 1-2, a shaft motor 2-4 drives the whole robot body to rotate, and the working frequency is changed according to the rotating speed of the adjusting motor;

the big arm 3 is fixed on the left side of the rotary seat 2 and is connected with the rotary seat through a two-axis RV speed reducer 2-3, the two-axis RV speed reducer 2-3 is driven by a two-axis motor 2-1 to rotate to drive the big arm 3 to rotate up and down in the space and to rotate back and forth along with the two-axis rotary seat 2;

three shafts in the three-shaft and four-shaft motor 4 are connected with the big arm 3 through a three-shaft RV speed reducer 4-2, and the three-shaft motor 4-1 drives the three-shaft RV speed reducer 4-2 to rotate back and forth along with the big arm 3;

the five shaft 5 is connected with four shafts of the three four shafts 4 through four-shaft RV speed reducers 4-6, and the four-shaft motor 4-3 drives the four-shaft RV speed reducer 4-6 to rotate around the four shafts in the positive direction;

the six shaft 6 is connected with the left side of the five shaft 5 through a five shaft speed reducer 5-7, and a five shaft motor 5-3 drives a gear set and drives the five shaft speed reducer 5-7 to rotate around the five shaft 5;

the tail end of the six shaft 6 is fixed with a six shaft RV reducer 6-4, and the tail end of the reducer is connected with a reducer connecting plate 6-3, so that a user can fix the clamp jig conveniently; when the device works, the six-shaft motor 6-2 drives the speed reducer to rotate in the positive and negative directions;

the middle part of the spring steel part 7 is fixed at one end of the rotary seat 2 through a spring cylinder body supporting shaft 7-8, the tail end part of the spring steel part is connected with the tail end of the big arm 3 in a rotating mode, when the big arm 3 rotates up and down in the space in the operation process of the robot, the tail end of the big arm 3 drives the spring cylinder optical axis 7-4 in the spring steel part 7-2 to do stretching movement in the linear direction, and therefore the spring is forced to extend 7-3 long or compress to provide a pulling moment or a pressure moment, so that the moment generated by two shafts of the whole robot in operation is balanced, and a part of moment is shared by the two-shaft RV reducer 2-3 and the two-shaft motor 2-1. The fixing is realized by fixing and connecting corresponding socket head cap screws through corresponding threaded holes; each shaft is connected with the other shaft through the corresponding RV reducer and is driven by the corresponding motor of each shaft; the system is provided by Huacheng unification and is technically supported.

Specifically, as shown in fig. 3, the base 1 includes a base body 1-1, the one-axis RV reducer 1-2 is mounted on the base body 1-1, an axis conduit 1-3 is disposed in the middle of the one-axis RV reducer, and a power and data line interface 1-4 is disposed on a side surface of the base body 1-1.

Specifically, as shown in fig. 4, the swivel base 2 includes a swivel base body 2-2, a bellows fixing clip i 2-5 and a cable fixing clip 2-6, the swivel base body 2-2 is located right above a base body 1-1, and vertically penetrates through and is provided with a first shaft motor 2-4, the first shaft motor 2-4 is in driving connection with a first shaft RV speed reducer 1-2, the second shaft motor 2-1 is in driving connection with a second shaft RV speed reducer 2-3, and is transversely installed on a tripod 2-7, the tripod 2-7 is fixed with the swivel base body 2-2, bellows fixation clamp I2-5 is located the side of swivel mount body 2-2, cable fixation clamp 2-6 is located tripod 2-7 and runs through swivel mount body 2-2.

Specifically, as shown in fig. 5, the large arm 3 comprises a large arm body 3-1, a spring cylinder shaft 3-2 and a bellows fixing clamp ii 3-3, wherein the large arm body 3-1 is rotatably mounted on the left side of a tripod 2-7 through the spring cylinder shaft 3-2 at the bottom. The big arm is also provided with anti-collision blocks 3-4 which are used for conveniently arranging mechanical structure for limiting and preventing collision.

Specifically, as shown in fig. 6, the three-four shaft 4 includes three-four shaft bodies 4-7 and cable holders 4-5, the three-shaft motor 4-1 is installed at the bottom of the three-four shaft bodies 4-7 and is in driving connection with a three-shaft RV reducer 4-2, the three-shaft RV reducer 4-2 is installed at the top of the boom body 3-1, the four-shaft motor 4-3 is sleeved on the three-four shaft body 4-7, a four-shaft connecting plate 4-4 is arranged at the front end of the four-shaft motor 4-3, and the cable holders 4-5 are installed on the outer walls of the three-four shaft bodies 4-7.

Specifically, as shown in fig. 7, the five shaft 5 includes a five shaft body 5-1, the rear end of the five shaft body 5-1 is fixed to a four shaft connecting plate 4-4, the five shaft motor 5-3 is mounted at the front end of the five shaft body 5-1, the front end of the five shaft body 5-1 is mounted with a connecting shaft of a bevel gear set 5-5 and a five shaft speed reducer 5-7, and the five shaft motor 5-3 is drivingly connected to the five shaft speed reducer 5-7 through the bevel gear set 5-5 (i.e., the gear set).

Specifically, as shown in fig. 7, the five-axis body 5-1 is provided with a five-axis side cover 5-2 which is adaptive, the end part of the bevel gear set 5-5 is provided with a gear gland 5-6, the bevel gear set 5-5 is mounted on the five-axis body 5-1 through a gear support cover 5-4, a connecting shaft of the five-axis speed reducer 5-7 is mounted on the five-axis body 5-1 through a bearing mounting seat 5-9, the bearing mounting seat 5-9 is provided with a bearing gland 5-8, and a cable fixing plate i 5-10 is mounted on the outer wall of the five-axis body 5-1.

Specifically, as shown in fig. 8, the six-shaft 6 includes a six-shaft body 6-1 and a cable fixing plate ii 6-5, the six-shaft body 6-1 is provided with a six-shaft motor 6-2, the six-shaft RV reducer 6-4 is in driving connection with the six-shaft motor 6-2, and the cable fixing plate ii 6-5 is installed on the outer side of the six-shaft body 6-1.

Specifically, as shown in fig. 9, the spring steel part 7 includes a spring cylinder 7-2, a spring cylinder optical axis 7-4 and a spring cylinder end cover 7-9, the front end of the spring cylinder optical axis 7-4 is inserted into the spring cylinder 7-2 and is provided with the spring cylinder end cover 7-9, a spring 7-3 is sleeved on the spring cylinder optical axis 7-4 located in the spring cylinder 7-2, and the tail end of the spring cylinder optical axis 7-4 is connected with the tail end of the large arm 3 through the spring cylinder optical axis seat 7-1.

Specifically, as shown in fig. 9, the tail end of the spring cylinder 7-2 is provided with a spring cylinder top cover 7-5, the front end of the spring cylinder is provided with a spring cylinder body sealing cover 7-12, the tail end of the spring 7-3 is connected with the spring cylinder top cover 7-5 in an abutting mode, the front end of the spring 7-3 is connected with the spring cylinder end cover 7-9 in an abutting mode, the front end of the spring cylinder end cover 7-9 is provided with a locking nut 7-10 connected with the front end of the spring cylinder 7-2, the locking nut 7-10 is provided with a locking nut 7-11, the spring cylinder body support shafts 7-8 are two symmetrical groups, and are sleeved with deep groove ball bearings 7-7 and provided with snap springs 7-6.

The utility model discloses in, quantity and position distribution such as bellows fixation clamp I2-5, bellows fixation clamp II 3-3, cable fixing base 4-5, cable fixed plate I5-10, cable fixed plate II 6-5 can be according to the nimble setting of actual use condition, and each is shown as follows specifically.

The utility model discloses in, the spool route is shown in fig. 2, 3, and the circuit is earlier passed through base body 1-1 inside by one spool 1-3, by two spool swivel mounts 2 play, and the line is walked through the bellows fixation clamp along two spool big arm 3 all the way after, three four-axis 4, five-axis body 5-1 outside.

The appearance design is shown in figure 1, and the whole appearance design is a streamline design with dynamic aesthetics, and the aesthetic feeling is perfect: a rotary seat 2 of one shaft, a big arm 3 of two shafts, a five-shaft body 5-1, a six shaft 6 and the like adopt a semi-cylindrical design; as shown in fig. 1, the base 1 of the first shaft and the three-four shafts 4 adopt a square and medium-arc design, and are matched with an RV reducer and a gear set through a motor to form high-precision transmission gear transmission robot equipment.

The material is as follows: in order to ensure the strength and the rigidity of the machine and the stable operation of the machine, the base 1, the swivel mount 2 and the large arm 3 adopt sand mould iron castings; in order to reduce the weight of the whole machine, save the cost, improve the performance of the machine and improve the operation flexibility of the robot, the three-axis and four-axis bodies 4, the five-axis body 5-1 and the six-axis body 6-1 adopt low-pressure casting steel die casting aluminum parts.

1. low cost and simple installation: structurally, the balance cylinder device (the spring steel part 7) which is easy to disassemble is adopted, so that the structure is more compact and simpler, the number of parts is less, the installation is more convenient, and the cost is lower.

2. Efficiency and precision are high: because the base 1, the swivel mount 2, the big arm 3, the five shafts 5 and the like are matched, the arm spread is large, and large-range actions can be realized; the response speed is high, the movement is flexible, and the working efficiency is higher; the precision is high, and the location is accurate.

3. Convenient maintenance and high safety factor: a shaft is provided with a line pipe 1-3 and a corrugated pipe fixing clamp, the combination of internal and external wiring is adopted, the use and the maintenance are convenient, a dynamic braking device is added for the RV servo motor, the real-time monitoring is realized, and the safety accident caused by the motor contracting brake failure or the sudden power supply closing is prevented.

Although embodiments of the present invention have been shown and described, it will be appreciated by those skilled in the art that changes, modifications, substitutions and alterations can be made in these embodiments without departing from the principles and spirit of the invention, the scope of which is defined in the appended claims and their equivalents.

Claims

1. A heavy-load universal multi-joint robot with a spring balance cylinder device is characterized by comprising:

the base (1) is positioned at the bottommost part of the robot;

the rotary seat (2) is placed on the base (1) and connected through a shaft RV reducer (1-2), and a shaft motor (2-4) drives the whole robot body to rotate;

the large arm (3) is fixed on the left side of the rotary seat (2) and connected through a two-axis RV speed reducer (2-3), the two-axis RV speed reducer (2-3) is driven by a two-axis motor (2-1) to rotate to drive the large arm (3) to rotate up and down in the space, and the large arm rotates back and forth along with the two-axis rotary seat (2);

three shafts of the three-four shafts (4) are connected with the big arm (3) through a three-shaft RV speed reducer (4-2), and the three-shaft RV speed reducer (4-2) is driven by a three-shaft motor (4-1) to rotate back and forth along with the big arm (3);

the five shaft (5) is connected with four shafts of the three and four shafts (4) through four-shaft RV speed reducers (4-6), and the four-shaft motor (4-3) drives the four-shaft RV speed reducers (4-6) to rotate around the four shafts in the positive direction;

the six-shaft (6) is connected with the left side of the five shaft (5) through a five-shaft speed reducer (5-7), and a five-shaft motor (5-3) drives the gear set and drives the five-shaft speed reducer (5-7) to rotate around the five shaft (5);

a six-shaft RV reducer (6-4) is fixed at the tail end of the six shaft (6), and the tail end of the reducer is connected with a reducer connecting plate (6-3);

the middle part of the spring steel part (7) is fixed at one end of the rotary seat (2) by a spring cylinder body supporting shaft (7-8), and the end part of the spring steel part is connected with the end of the large arm (3).

2. The heavy-load universal multi-joint robot with the spring balance cylinder device as claimed in claim 1, wherein: the base (1) comprises a base body (1-1), the shaft RV speed reducer (1-2) is installed on the base body (1-1), a shaft through pipe (1-3) is arranged in the middle of the shaft RV speed reducer, and a power supply and data line interface (1-4) is arranged on the side face of the base body (1-1).

3. The heavy-load universal multi-joint robot with the spring balance cylinder device as claimed in claim 2, wherein: the swivel base (2) comprises a swivel base body (2-2), a corrugated pipe fixing clamp I (2-5) and a cable fixing clamp (2-6), the swivel base body (2-2) is positioned right above the base body (1-1), and a shaft motor (2-4) is vertically installed in a penetrating way, the shaft motor (2-4) is in driving connection with a shaft RV reducer (1-2), the two-shaft motor (2-1) is in driving connection with a two-shaft RV reducer (2-3), and is transversely installed on a tripod (2-7), the tripod (2-7) is fixed with the swivel base body (2-2), the corrugated pipe fixing clamp I (2-5) is positioned on the side surface of the swivel base body (2-2), the cable fixing clamp (2-6) is positioned on the tripod (2-7) and penetrates through the swivel base body (2-2).

4. The heavy-load universal multi-joint robot with the spring balance cylinder device as claimed in claim 3, wherein: the large arm (3) comprises a large arm body (3-1), a spring cylinder body shaft (3-2) and a corrugated pipe fixing clamp II (3-3), and the large arm body (3-1) is rotatably arranged on the left side of the tripod (2-7) through the spring cylinder body shaft (3-2) at the bottom.

5. The heavy-load universal multi-joint robot with the spring balance cylinder device as claimed in claim 4, wherein: three four-axis (4) are including three four-axis bodies (4-7) and cable fixing base (4-5), install the bottom at three four-axis bodies (4-7) in three motor (4-1) to three RV speed reducer (4-2) are connected in the drive, the top at big arm body (3-1) is installed in triaxial RV speed reducer (4-2), three four-axis bodies (4-7) cover is equipped with four-axis motor (4-3), four-axis motor (4-3) front end has four-axis connecting plate (4-4), install at three four-axis bodies (4-7) outer wall cable fixing base (4-5).

6. The heavy-load universal multi-joint robot with the spring balance cylinder device as claimed in claim 5, wherein: the five-axis motor is characterized in that the five-axis (5) comprises a five-axis body (5-1), the rear end of the five-axis body (5-1) is fixed with a four-axis connecting plate (4-4), the five-axis motor (5-3) is installed at the front end of the five-axis body (5-1), a bevel gear set (5-5) and a five-axis speed reducer (5-7) connecting shaft are installed at the front end of the five-axis body (5-1), and the five-axis motor (5-3) is in driving connection with the five-axis speed reducer (5-7) through the bevel gear set (5-5).

7. The heavy-load universal multi-joint robot with the spring balance cylinder device as claimed in claim 6, wherein: the five-axis speed reducer is characterized in that the five-axis body (5-1) is provided with a five-axis side cover (5-2) which is matched with the five-axis side cover, a gear gland (5-6) is arranged at the end part of the bevel gear set (5-5), the bevel gear set (5-5) is installed on the five-axis body (5-1) through a gear supporting cover (5-4), a connecting shaft of the five-axis speed reducer (5-7) is installed on the five-axis body (5-1) through a bearing installation seat (5-9), the bearing installation seat (5-9) is provided with a bearing gland (5-8), and a cable fixing plate I (5-10) is installed on the outer wall of the.

8. The heavy-load universal multi-joint robot with the spring balance cylinder device as claimed in claim 6, wherein: six (6) include six body (6-1) and cable fixed plate II (6-5), six motor (6-2) are installed to six body (6-1), six RV speed reducer (6-4) are connected with six motor (6-2) drive, cable fixed plate II (6-5) are installed in six body (6-1) outside.

9. The heavy-load universal multi-joint robot with the spring balance cylinder device as claimed in claim 4, wherein: the spring steel part (7) comprises a spring cylinder body (7-2), a spring cylinder optical axis (7-4) and a spring cylinder end cover (7-9), the front end of the spring cylinder optical axis (7-4) is inserted into the spring cylinder body (7-2) and provided with the spring cylinder end cover (7-9), a spring (7-3) is sleeved on the spring cylinder optical axis (7-4) located in the spring cylinder body (7-2), and the tail end of the spring cylinder optical axis (7-4) is connected with the tail end of the large arm (3) through the spring cylinder optical axis seat (7-1).

10. The heavy-load universal multi-joint robot with the spring balance cylinder device as claimed in claim 9, wherein: the end of the spring cylinder body (7-2) is provided with a spring cylinder top cover (7-5), the front end of the spring cylinder body is provided with a spring cylinder body sealing body cover (7-12), the end of the spring (7-3) is connected with the spring cylinder top cover (7-5) in an abutting mode, the front end of the spring (7-3) is connected with the spring cylinder end cover (7-9) in an abutting mode, the front end of the spring cylinder end cover (7-9) is provided with a locking nut (7-10) connected with the front end of the spring cylinder body (7-2), the locking nut (7-10) is provided with a locking nut (7-11), the spring cylinder body support shafts (7-8) are two symmetrical groups, and are sleeved with deep groove ball bearings (7-7) and are provided with clamp springs (.