Seven-axis five-power robot applying parallelogram principle

Abstract

The invention provides a seven-axis five-power robot applying a parallelogram principle, which has the advantages that the stability in taking a workpiece is improved, the control range of a gripper is enlarged and time and labor are saved in fine adjustment of the gripper. The robot comprises a base, wherein a horizontal rotatable first shaft is arranged on the base; a first shaft servomotor for driving the first shaft to rotate is arranged at one end of the first shaft; the other end of the first shaft is connected with a swinging arm component; the first shaft servomotor drives the first shaft to rotate so as to drive the swinging arm component to circumferentially swing around the first shaft; the free end of the swinging arm component is connected with the gripper for gripping the workpiece; and the swinging arm component comprises a first swinging arm component and a second swinging arm component which are mutually hinged together end to end and form two parallelogram hinging structures. The robot is characterized in that the gripper comprises a transverse driving member, a vertical driving member and end grippers.

Description

technical field [0001] The invention relates to the technical field of industrial robots, in particular to a seven-axis five-power robot applying the parallelogram principle. Background technique [0002] The complete set of equipment for industrial robot automation production line has become the mainstream robot development prospect and future development direction of automation equipment. Automobile industry, electronic appliances industry, construction machinery and other industries have widely used industrial robot automation production lines to ensure product quality, improve production efficiency, and avoid a large number of industrial accidents. [0003] At present, the single-arm swing manipulator on the market, because its moving route is arc-shaped, it is difficult for the gripper suction cup to move horizontally and straightly. In order to keep the gripper suction cup horizontal, it often needs the assistance of a power mechanism, which will also Increase manufac...

AI Technical Summary

Problems solved by technology

[0003] At present, the single-arm swinging manipulators on the market, because their moving route is arc-shaped, it is difficult for the gripper suction cup to move horizontally and straightly. In order to keep the gripper suction cup horizontal, it often requires the assistance of a power mechanism, which will also increase manufacturing cost

Moreover, the transmission arm of the existing manipulator is generally a single arm, and its stability is low. The manipulator is prone to shaking during the moving process, which seriously affects the control accuracy of the manipulator, and it is difficult to meet people's precision requirements; and the gripper of the existing robot Generally, it can only play the role of clamping the workpiece, and the adjustment of the direction and position requires the operation of the rocker arm, which makes the controllable range of the gripper of the whole robot narrow, and the fine adjustment of the gripper position is time-consuming and laborious.

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