CN108161973A - A kind of Multi-shaft mechanical arm of the electronic clamping jaw of band - Google Patents

Abstract

The invention provides a multi-axis mechanical arm with electric grippers. The drive element is arranged on the platform at the bottom. The first arm and the second arm have no additional weight except their own weight and the weight of the matching connecting rod, and have the advantages of It has the characteristics of fast movement of the end; the end of the second arm is equipped with a working end that can perform rotation and rotation, which has a greater degree of freedom of movement and can meet various operating requirements; the driving components of the rotation and rotation of the working end are also installed On the platform, the weight of the moving part is lighter than that of the existing mechanical arm module, especially suitable for fast-moving operations at the working end; the driving parts of the electric gripper are arranged outside the gripper body to further reduce the load of the second arm; the gripper The claw body realizes clamping and screwing actions in a small volume, and has good practicability.

Description

A multi-axis robotic arm with electric gripper

technical field

The invention relates to the technical field of robots, in particular to a multi-axis mechanical arm with electric grippers.

Background technique

Robots can be divided into parallel robots and serial robots. Among them, the common type of serial robots is articulated robots. In common articulated robots, the driving components of each arm are installed on the joints connected to the forearm. As the number of arms increases, the load on each arm will increase accordingly, resulting in an increase in the volume of the driving power components of the arm and an increase in the movement speed of the arm. Problems such as slowing down and reducing the accuracy of the arm are not conducive to the high-speed and miniaturization of joint robots.

It is common to use robots for clamping operations in robot applications. Common clamping tools use air pressure as the driving force. When the clamping tool starts or stops, it will generate a large impact force, which is easy to cause damage to high-speed robots with small loads. The impact changes its motion coordinates, which is not conducive to the repeated positioning of the robot; some clamping tools are also driven by motors, but the motor and clamping tools are often integrated, and the weight is heavy, which is not conducive to the high-speed movement of the robot.

Contents of the invention

In order to realize the high-speed clamping operation of the robot, the present invention provides a multi-axis mechanical arm with electric grippers. The multi-axis mechanical arm with electric grippers includes a platform, a first arm, a second arm, and a first connecting rod. , the second link, the first arm drive assembly, the first link drive assembly, the rotary end, the rotary drive assembly, the rotary transmission assembly and the electric gripper;

The platform is parallel to the xy plane, and on the positive direction of the platform x, there are provided a first base rotation shaft connector and a second base rotation shaft connector opposite to the y direction;

Between the opposite surfaces of the first base shaft connector and the second base shaft connector, a cylindrical first base shaft starting end is slidably mounted on the first base shaft connector; a cylindrical second base shaft The starting end of the rotating shaft is slidably installed on the connecting member of the second base rotating shaft; the axis of the first base rotating shaft and the axis of the second base rotating shaft are collinear and parallel to the y-axis;

The starting end of the first arm is slidingly hinged on the first base shaft and/or the second base shaft, and the axis where the hinged position is located is the first joint; the end of the first arm is hinged to the starting end of the second arm, and the hinged position is The axis where it is located is the second joint; the end of the second arm is hinged to the rotary end, and the axis where the hinged position is located is the third joint;

The starting end of the first connecting rod is slidably hinged to the first base shaft and/or the second base rotating shaft, and the end is hinged to the starting end of the second connecting rod; the end of the second connecting rod is hinged to the second arm In the middle or at the end; the first arm, the second arm, the first connecting rod and the second connecting rod form a four-bar linkage mechanism;

The first arm driving assembly is installed on the platform for driving the first arm to rotate around the second base shaft; the first link driving assembly is installed on the platform for driving the The first connecting rod rotates around the first base shaft;

The rotary transmission assembly includes a first rotary pulley, a second rotary pulley, a third rotary pulley and a rotary belt for transmission;

The first revolving pulley is fixed on the first base shaft, the second revolving pulley is arranged on the second joint, and the third revolving pulley is arranged on the third joint, so The third revolving pulley is connected and fixed to the revolving end;

The first revolving pulley, the second revolving pulley, and the third revolving pulley are connected based on a revolving belt;

The slewing drive assembly is installed on the negative side of the connecting part y of the first base shaft, and the output end is connected to the beginning of the first base shaft to drive the base shaft, the first revolving pulley, the second revolving pulley, the second Three swivel pulleys and swivel end rotation;

The electric gripper is arranged on the rotary end.

In a preferred embodiment, the multi-axis mechanical arm with electric grippers further includes an autorotation end, an autorotation drive assembly, and an autorotation transmission assembly;

The rotation end is arranged on the rotation end, and the axis is perpendicular to the third joint axis;

The rotation transmission assembly includes a first rotation pulley, a second rotation pulley, a third rotation pulley, a first bevel gear and a second bevel gear;

The first self-rotating pulley is fixed on the second base shaft, the second self-rotating pulley is arranged on the second joint, and the third self-rotating pulley is arranged on the third joint and is connected with The third rotary pulley is coaxial;

The first bevel gear is fixed and coaxially connected with the third rotation pulley, and the second bevel gear is connected and fixed coaxially with the rotation end; the first bevel gear meshes with the second bevel gear ;

The rotation drive assembly is installed in the positive direction of the second base rotation shaft connector y, and the output end is connected to the beginning of the second base rotation shaft to drive the second base rotation shaft, the first rotation pulley, and the second rotation pulley , the third self-rotation pulley and the first bevel gear rotate synchronously and drive the self-rotation end to rotate around its own axis based on the first bevel gear and the second bevel gear.

In a preferred embodiment, the first arm is parallel to the second connecting rod and has the same length; the first connecting rod is parallel to the second arm.

In a preferred embodiment, the length of the second arm is greater than or equal to the length of the first link.

In a preferred embodiment, the first arm drive assembly includes a first arm drive base, a first arm drive motor, a first arm drive screw, a first arm drive slider, and a first arm drive connector;

The first arm drive base is hinged in the negative x direction of the platform;

The first arm driving screw and the first arm driving slider are installed in a first arm driving housing, the first arm driving slider is sleeved on the first arm driving screw, and the first arm The driving connector is connected and fixed to the drive slider of the first arm; the driving connector of the first arm is connected and fixed to the beginning of the first arm, and is coaxial with the screw rod;

The first arm driving shell and the first arm driving motor are fixed side by side on the first arm driving base; the rotating shaft of the first arm driving motor and one end of the first arm driving screw are on the The drive base of the first arm is based on gear connection transmission;

The first arm driving link drives the first arm to rotate around the second base rotation axis.

In a preferred embodiment, the first connecting rod driving assembly includes a first connecting rod driving base, a first connecting rod driving motor, a first connecting rod driving screw, a first connecting rod driving slider and a first connecting rod driving connection pieces;

The first connecting rod drives the base to be hinged in the x-negative direction of the platform;

The first connecting rod driving screw and the first connecting rod driving slider are installed in the first connecting rod driving housing, and the first connecting rod driving slider is sleeved on the first connecting rod driving screw, so The first connecting rod driving connector is connected and fixed with the first connecting rod driving slider; the first connecting rod driving connecting part is connected and fixed with the starting end of the first connecting rod, and is coaxial with the screw rod;

The first connecting rod driving shell and the first connecting rod driving motor are fixed side by side on the first connecting rod driving base; the rotating shaft of the first connecting rod driving motor and the first connecting rod driving screw One end of the first connecting rod is connected and transmitted based on a gear in the first connecting rod driving base;

The first connecting rod driving connector drives the first connecting rod to rotate around the first base rotation axis.

In a preferred embodiment, the electric gripper includes a gripper body, a gripper flexible shaft, and a gripper drive motor;

The jaw body includes jaw shell, jaw input shaft, first jaw bevel gear, second jaw bevel gear, jaw screw rod, jaw one, jaw two, jaw slider one, jaw Slider 2, jaw slide rail;

The jaw shell is a box-shaped structure, the jaw input shaft is slidably installed on the back of the jaw shell, one end protrudes from the jaw shell and the end surface is provided with a clip for connecting with the flexible shaft of the jaw The claw enters the blind hole, and the other end is located inside the jaw shell and is connected and fixed with the bevel gear of the first jaw;

The second bevel gear meshes vertically with the first jaw bevel gear and is connected and fixed with the jaw screw rod;

The two ends of the jaw screw rod are slidably installed between the two sides of the jaw shell, and the axial middle section is used as the interface, and the two sides of the interface are provided with screw threads with opposite rotation directions;

The first end of the jaw first and the second end of the jaw are respectively installed on the screw threads on both sides of the interface of the jaw screw rod based on thread fit, and the ends extend out of the bottom surface of the jaw shell;

The first jaw slider and the second jaw slider are respectively connected and fixed with the first jaw and the second jaw; the jaw slide rail is installed at the bottom of the inner cavity of the jaw shell, 1. Gripper slider 2 slides and fits on the jaw slide rail;

The jaw driving motor is fixed outside the jaw housing, and the output end realizes transmission based on the connection between the flexible shaft of the jaw and the input shaft of the jaw.

In a preferred embodiment, the electric gripper also includes a tool drive motor, a tool flexible shaft and a screwing module;

The screw driving module includes a tool input shaft, a tool transmission shaft, an electromagnetic ring one, an electromagnetic ring two, a tool output shaft and a screwdriver head;

The input shaft of the tool is installed on the top surface of the jaw housing and only has a degree of freedom of rotation, and the bottom end is located inside the jaw housing and is connected and fixed with an electromagnetic ring 1;

The top end of the tool output shaft is connected and fixed with the electromagnetic ring 2, and the bottom end passes through the bottom of the jaw shell and is connected and fixed with the screwdriver head;

The cross-sectional shape of the tool transmission shaft is any figure except circular, one end is fixed on the tool input shaft, the other end passes through the electromagnetic ring 1 and the electromagnetic ring 2, and is axially slidably fitted on the tool output shaft Inside;

The axes of the tool input shaft, the tool transmission shaft, the tool output shaft and the screwdriver head are collinear;

After the first electromagnetic ring and the second electromagnetic ring are energized, the output shaft of the tool moves axially toward the input shaft of the tool or moves away from the input shaft of the tool.

In a preferred embodiment, the jaw flexible shaft has the same structure as the tool flexible shaft, including a flexible shaft input interface, a flexible shaft output interface, a hose, and a flexible shaft core;

The rotatable inner sleeve of the flexible shaft core is located inside the hose, the input end is connected and fixed to the input interface of the flexible shaft, and the output end is connected and fixed to the output interface of the flexible shaft.

In a preferred embodiment, the electric gripper further includes a gripper torque limiter and a tool torque limiter; the gripper driving motor is connected to the beginning end of the gripper flexible shaft through the gripper torque limiter; the The tool driving motor is connected with the starting end of the tool flexible shaft through the tool torque limiter.

An embodiment of the present invention provides a multi-axis robotic arm with electric grippers. The multi-axis robotic arm with electric grippers sets the driving element on the platform at the bottom. The first arm and the second arm have their own weight and matching Apart from the weight of the connecting rod, there is no additional weight. The multi-axis mechanical arm with electric gripper has the characteristics of fast moving speed at the end, and can carry out short-distance trajectory with light load and high-speed movement; the driving element of the electric gripper is arranged outside the gripper body, which has a good effect on the rapid operation of the robot practicality.

Description of drawings

In order to more clearly illustrate the technical solutions in the embodiments of the present invention or the prior art, the following will briefly introduce the drawings that need to be used in the description of the embodiments or the prior art. Obviously, the accompanying drawings in the following description are only These are some embodiments of the present invention. Those skilled in the art can also obtain other drawings based on these drawings without creative work.

Fig. 1 shows the three-dimensional structure schematic diagram of the multi-axis mechanical arm with electric gripper of the embodiment of the present invention;

Fig. 2 shows the front view of the multi-axis mechanical arm with electric gripper according to the embodiment of the present invention;

Fig. 3 shows the sectional view of A-A section of the embodiment of the present invention;

Fig. 4 shows the sectional view of the B-B section of the embodiment of the present invention;

Fig. 5 shows the top view of the multi-axis mechanical arm with electric gripper according to the embodiment of the present invention;

Figure 6 shows a front view of the first arm of an embodiment of the invention;

Fig. 7 shows the front view of the first connecting rod of the embodiment of the present invention;

Fig. 8 shows a schematic diagram of multi-axis mechanical arm movement according to an embodiment of the present invention;

Fig. 9 shows a partial enlarged view of the first connecting rod drive assembly according to the embodiment of the present invention;

Fig. 10 shows a schematic diagram of a three-dimensional structure of an electric gripper according to an embodiment of the present invention;

Fig. 11 shows the right view of the electric gripper of the embodiment of the present invention;

Fig. 12 shows a partially enlarged cross-sectional view of the structure of the two ends of the clamping jaw according to the embodiment of the present invention;

Fig. 13 shows a cross-sectional view of the flexible shaft structure of the embodiment of the present invention.

Detailed ways

The following will clearly and completely describe the technical solutions in the embodiments of the present invention with reference to the accompanying drawings in the embodiments of the present invention. Obviously, the described embodiments are only some, not all, embodiments of the present invention. Based on the embodiments of the present invention, all other embodiments obtained by persons of ordinary skill in the art without creative efforts fall within the protection scope of the present invention.

Fig. 1 shows the three-dimensional structure schematic diagram of the multi-axis manipulator with electric gripper of the embodiment of the present invention, Fig. 2 shows the front view of the multi-axis manipulator with electric gripper of the embodiment of the present invention, Fig. 5 shows The top view of the multi-axis mechanical arm of the electric gripper of the embodiment of the present invention, in order to clearly show the transmission structure, part of the shell in Figure 5 is not shown, and the rotation end and the rotation end are adjusted to a certain angle to make the view clearer.

The multi-axis mechanical arm with electric gripper provided by the embodiment of the present invention includes a platform 101, a first arm 102, a second arm 103, a first connecting rod 105, a second connecting rod 104, a first arm drive assembly 107, a second A connecting rod 106 drives the assembly, the rotary drive assembly 801 , the rotary transmission assembly, the autorotation drive assembly 802 , the autorotation transmission assembly and the electric gripper 1200 . In the following, the multi-axis robotic arm of the embodiment of the present invention will be introduced first, and then the structure of the electric gripper will be introduced.

In order to reduce the weight of the first arm 102 and the second arm 103, the structure of the first arm 102 in the embodiment of the present invention is a hollow columnar structure, specifically a square hollow columnar structure; the second arm 103 passes through two second arm cover plates 137 Composition, the two second arm cover plates 137 are connected and fixed by more than one second arm fixing member 139; in specific implementation, various forms of arm structures can be set.

The platform 101 is parallel to the xy plane. In a specific implementation, the top surface of the platform 101 is a plane, which is parallel to the xy plane, and its shape is not unique.

On the positive direction of the platform x, there are provided a first base rotation axis connecting piece 109 and a second base rotation axis connecting piece 111 opposite in the y direction;

Figure 3 shows the sectional view of the A-A section. For the simplicity of the view, only the part with the sectional plane is shown; the section line of the bearing is not shown in the figure due to its complexity; in order to reduce friction, the relative sliding parts The connection between them is based on the bearing and the bearing sleeve. Since this connection method is relatively common in the industry, it will not be introduced in detail. Between the opposite surfaces of the first base shaft connector 109 and the second base shaft connector 111, a cylindrical first base shaft 812 is slidably mounted on the first base shaft connector 109; The starting end 815 of the second base rotation shaft is slidably installed on the connecting member of the second base rotation shaft; the axis 812 of the first base rotation shaft and the axis of the second base rotation shaft 815 are collinear and parallel to the y-axis.

The first end of the first arm 102 is slidingly hinged on the first base shaft 812 and/or the second base shaft 815. The first arm 102 in the embodiment of the present invention is a hollow columnar structure, sliding and hinged across the first base shaft. 812 and the second base shaft 815; the end of the first arm 102 is hinged to the beginning of the second arm 103; the end of the second arm 103 is hinged to the working end.

The beginning of the first connecting rod 105 is slidingly hinged on the first base rotating shaft 812 and/or the second base rotating shaft 815, and the end is hinged on the beginning of the second connecting rod 104; the end of the second connecting rod 104 is hinged on On the middle or end of the second arm 103; the first arm 102, the second arm 103, the first connecting rod 105 and the second connecting rod 104 form a four-bar linkage;

The first arm driving assembly 107 is installed on the platform 101, and is used to drive the first arm 102 to rotate around the first base rotation axis 812 and/or the second base rotation axis 815; the first connecting rod drives The assembly 106 is mounted on the platform 101 and is used to drive the first connecting rod 105 to rotate around the first base rotation axis 812 .

It should be noted that the first arm drive assembly and the second arm drive assembly can control and maintain the position of the four-bar linkage structure composed of the first arm, the second arm, the first link and the second link; The position is controlled by the slewing drive assembly 801 , the slewing transmission assembly, the autorotation drive assembly 802 and the autorotation transmission assembly.

Wherein, the first basic rotating shaft 812 is driven by the rotary driving assembly 801 . The rotary drive assembly 801 includes a rotary drive motor 810, a rotary drive reducer 811, and supporting bearings and bearing sleeves. The first end of the first base shaft 812 is slidably installed on the first base shaft connector 109, and the end is fixed with the first rotary pulley 813; the rotary drive reducer 811 is fixed on the first base shaft 812; the rotary drive motor 810 is decelerated by rotary drive The device 811 is connected with the first base shaft connector 109; the rotary drive motor 810 drives the first rotary pulley 813 to rotate through the rotary drive reducer 811 and the first base shaft 812.

The second base shaft 815 is driven by the rotation drive assembly 801 . The autorotation drive assembly 802 includes an autorotation drive motor 817, an autorotation drive reducer 816, and supporting bearings and bearing sleeves. The beginning of the second base shaft 815 is slidably installed on the second base shaft connector 111, and the end is fixed with the first rotary pulley 814; the rotation drive reducer 816 is fixed on the second base shaft connector 111; the rotation drive motor 817 is The drive reducer 816 is connected to the second base shaft 815; the autorotation drive motor 817 drives the first autorotation pulley 814 to rotate through the autorotation drive reducer 815 and the second base shaft 815.

Figure 4 shows the schematic diagram of the section structure of the B-B section. For the simplicity of the view, only the part with the section plane is shown; the section line of the bearing is not shown in the figure due to its complexity; in order to reduce friction, the relative sliding parts The connection between components is based on bearings and bearing sleeves. Since this connection method is relatively common in the industry, it will not be introduced in detail. The end of the first arm 104 is hinged to the beginning of the second arm 103 . Specifically, the second joint rotation axis 834 runs through the positive y surface and the negative y surface of the first arm 104 along the y direction. The second rotary sleeve 833 and the second autorotation sleeve 832 are slidably installed on the second joint shaft 834, wherein the second rotary sleeve 833 is slidably installed on the negative surface of the first arm 104y, inside the first arm 104 and The second rotation pulley 836 and the second rotation pulley 2 835 are respectively connected and fixed on the outside; the second rotation sleeve 832 is slidably installed on the front surface of the first arm 104y, and is respectively connected and fixed on the inside and outside of the first arm 104 There are second rotation belt pulley one 837 and second rotation belt pulley two 838. The two second arm cover plates 137 of the second arm are slidably installed on the second rotary sleeve 833 and the second autorotation sleeve 832 respectively.

Fig. 5 shows a top view of the embodiment of the present invention, wherein the components unrelated to the rotary motion of the rotary end and the autorotative motion of the autorotary end are not shown, and the partial enlarged view is a cross-sectional view of the second arm end. The end of the second arm 103 is provided with a third joint shaft 842 penetrating along the y direction; the positive end of the third joint shaft 842 y is fixedly connected with the third rotation pulley 840, and the negative end of the y side is slidably installed with a third rotary sleeve 843 , the third revolving sleeve 843 is slidably installed on the negative surface of the second arm 103y, wherein the third revolving sleeve 843 is connected and fixed with a third revolving pulley 847 in the negative direction of y.

The working end of the embodiment of the present invention includes a rotary end 844 and an autorotation end 845 slidably mounted on the rotary end 844; the rotary end 844 is slidably mounted on the third joint shaft 842, and the y negative end is connected and fixed to the third rotary sleeve 843 .

A first bevel gear 841 is fixedly connected to the third joint rotating shaft 842, and a second bevel gear 846 is fixedly connected to the rotation end; the first bevel gear 841 meshes with the second bevel gear 842, and their axes are perpendicular to each other.

Combining with the above description of the multi-axis manipulator structure of the embodiment of the present invention, the following summarizes the rotary motion and autorotation motion of the working end of the embodiment of the present invention.

The rotary transmission assembly includes a first rotary pulley, a second rotary pulley one, a second rotary pulley two, a third rotary pulley, and rotary belt one and rotary belt two for transmission. The rotary drive assembly drives the first base shaft to rotate, driving the first rotary pulley to rotate; the first rotary pulley drives the second rotary pulley to rotate based on the rotary belt one; the second rotary pulley one and the second rotary pulley two are based on The second rotary sleeve is connected and fixed and moves synchronously; the second rotary pulley drives the third rotary pulley to move based on the rotary belt two; the third rotary pulley and the rotary end are connected and fixed based on the third rotary sleeve and rotate synchronously.

The rotation transmission assembly includes the first rotation pulley, the second rotation pulley one, the second rotation pulley two, the third rotation pulley, the first bevel gear, the second bevel gear and the rotation belt one and the rotation belt for transmission 2. The rotation drive assembly drives the second base shaft to rotate, driving the first rotation pulley to rotate; the first rotation pulley drives the second rotation pulley to rotate based on the rotation belt one; the second rotation pulley and the second rotation pulley 2. The second rotation sleeve is connected and fixed and moves synchronously; the second rotation belt pulley 2 drives the third rotation pulley to move based on the rotation belt 2; the third rotation pulley and the first bevel gear are connected and fixed based on the third joint shaft, and Synchronous rotation; the second bevel gear meshes with the first bevel gear orthogonally and is driven by the first bevel gear to realize rotation; the rotating end connected with the second bevel gear rotates around its own axis on the rotating end.

Fig. 1 shows a schematic three-dimensional structural diagram of a multi-axis manipulator with electric grippers according to an embodiment of the present invention, and Fig. 2 shows a front view of a multi-axis manipulator with electric grippers according to an embodiment of the present invention. The first base rotating shaft and the second base rotating shaft are not only used as transmission components, but also used to suspend the starting end of the first arm 102 and the starting end of the first connecting rod 105 to a set height, so that the first base rotating shaft and the second base rotating shaft are aligned with the first base rotating shaft. There is a space between the platforms for the movement of the first arm 102 and the first connecting rod 105 to avoid interference between the first arm 102 and the first connecting rod 105 and the platform 101 .

Fig. 1 shows a schematic diagram of a three-dimensional structure of the first arm of the embodiment of the present invention, and Fig. 6 shows a front view of the structure of the first arm of the embodiment of the present invention. In specific implementation, the beginning of the first arm 102 is slidingly hinged on the first base shaft 812 and the second base shaft 815, and the end is hinged to the beginning of the second arm 103; in order to drive the first arm 107 For installation and connection, the first arm 102 extends from the first arm connecting piece in the direction that the starting end deviates from the end, and the first arm connecting piece is hinged to the output end of the first arm driving assembly. It should be noted that the first arm connecting piece and the first arm are relatively fixed, and the axial length of the first arm connecting piece is smaller than the axial length of the first arm. Based on the principle of leverage, the small size of the first arm connecting piece can be made After the displacement passes through the fulcrums of the first base rotation axis 812 and the second base rotation axis 815, it is amplified to a large distance displacement of the end of the first arm, which is beneficial to the rapid movement of the end of the first arm.

Fig. 1 shows a schematic diagram of a three-dimensional structure of a first connecting rod according to an embodiment of the present invention, and Fig. 7 shows a front view of the structure of a first connecting rod according to an embodiment of the present invention. The beginning of the first connecting rod 105 is hinged on the first base rotating shaft 812, and the end is hinged with the starting end of the second connecting rod 104; in order to install and connect the first connecting rod driving assembly 103, the first connecting rod 105 is at the starting end away from the end In the direction of , the first connecting rod connecting piece extends, and the first connecting rod connecting piece is hinged to the output end of the first connecting rod driving assembly 106 . It should be noted that the first connecting rod connecting piece and the first connecting rod are relatively fixed, and the axial length of the first connecting rod connecting piece is smaller than the axial length of the first connecting rod. Based on the principle of leverage, the first connecting rod can be The small displacement of the rod connecting part is amplified to a large distance displacement of the end of the first connecting rod through the fulcrum of the first base rotating shaft 812, which is beneficial to the rapid movement of the end of the first connecting rod.

The beginning of the second link 104 is hinged on the end of the first link 105 , and the end is hinged on the middle of the second arm 103 or the end of the second arm 103 . In specific implementation, the second connecting rod 104 often adopts a hollow connecting rod to reduce its weight.

Further, the first arm 102 , the second arm 103 , the first connecting rod 105 and the second connecting rod 104 can be made of aluminum or aluminum alloy with low density to further reduce their weight.

Figure 8 shows a schematic diagram of the movement of the multi-axis robotic arm with electric grippers, combined with the front view of the multi-axis robotic arm with electric grippers shown in Figure 2, the first arm and the second arm are replaced by straight lines , the first connecting rod, and the second connecting rod, each hinge point is replaced by a circle, and the names of each hinge point are as follows: the first base rotation axis and the second base rotation axis are set on the same straight line, and this position is summarized as the first hinge Point 121, the hinge point between the end of the first link 105 and the beginning of the second link 104 is the second hinge point 122, the hinge point between the end of the first arm 102 and the beginning of the second arm 103 is the third hinge point 123, the second link The hinge point between the end of the rod 104 and the second arm 103 is the fourth hinge point 124; it can be drawn from the motion diagram that the first arm 102, the second arm 103, the first connecting rod 105 and the second connecting rod 104 form a Four-bar linkage.

In specific implementation, the end of the second arm 103 can be set near the fourth hinge point 124. Since the end of the second arm 103 is closer to the fourth hinge point 124 at this time, based on the principle of leverage, the end of the second arm 103 The displacement relative to the beginning of the second arm 103 is reduced, which is conducive to improving the control accuracy of the end of the second arm 103; but based on the structural limitations of the four-bar linkage, this arrangement will result in a relatively small range of motion at the end of the second arm 103. Small.

Therefore, in practice, the length of the second arm 103 can also be extended so that the end protrudes from the fourth hinge point 124. This arrangement is conducive to increasing the range of motion of the second arm 103, making it suitable for more working environments. .

In the specific implementation, although the four-bar linkage mechanism of any structure can realize the corresponding displacement control of the end of the second arm, in order to make the control calculation of the end of the second arm more convenient, each side of the four-bar linkage mechanism in the embodiment of the present invention The length can be set as the following parameters: the first arm 102 is parallel to the second link 104 and has the same length; the first link 105 is parallel to the second arm 103; at this time, the The four-bar linkage mechanism is a parallelogram, the attitudes of the first arm 102 and the second link 104 are the same, the attitudes of the second arm 103 and the first link 105 are the same, and the calculation of the end can be based on the length of the first link, the length of the first arm The length, the length of the second arm, and the angle between the first link and the first arm are quickly obtained, which makes the design and control of the software easier.

The above is the introduction of the mechanical structure of the multi-axis mechanical arm of the embodiment of the present invention. In the embodiment of the present invention, the four-bar linkage mechanism has two moving links, which are respectively the first arm 102 and the first link 105. By controlling The movement of the first arm 102 and the first connecting rod 105 can realize the movement of the end of the second arm 103, and the driving of the first arm and the first connecting rod will be introduced below.

Fig. 9 shows a partial enlarged view of the first link driving assembly according to the embodiment of the present invention. The first connecting rod driving assembly includes a first connecting rod driving base 130, a first connecting rod driving motor 131, a first connecting rod driving connector 133, a first connecting rod driving screw 134 and a first connecting rod driving slider 135;

The first link driving base 130 is hinged to the negative x direction of the platform, and the hinge point is the first link driving base hinge point 120 . The first connecting rod driving motor 131 is fixed on the first connecting rod driving base 130; the rotating shaft of the first connecting rod driving motor 131 extends into the first connecting rod driving base 130; the first connecting rod driving screw 134 and the first connecting rod driving slider 135 are installed in the first connecting rod driving housing 136, and the first connecting rod driving slider 135 is sleeved on the first connecting rod driving screw 134, and the first connecting rod The driving connector 133 is connected and fixed with the first connecting rod driving slider 135; the first connecting rod driving connecting member 133 is coaxial with the first connecting rod driving screw 134, and is connected with the first connecting rod 105 start connection fixed;

The first connecting rod driving housing 136 and the first connecting rod driving motor 131 are fixed side by side on the first connecting rod driving base 130; the rotating shaft of the first connecting rod driving motor 131 and the first connecting rod driving motor 131 One end of the rod driving screw 134 is connected and transmitted based on a gear in the first connecting rod driving base 130 .

In specific implementation, the first connecting rod driving motor 131 drives the first connecting rod driving screw 134 to rotate, and drives the first connecting rod driving slider 135 to move axially along the first connecting rod driving screw 134; The rod driving connector 133 is driven by the first connecting rod driving slider 135 and rotates around the first base rotation axis, and drives the first connecting rod to rotate around the first base rotation axis through the principle of leverage.

Similarly, the structure of the first arm drive assembly is the same as that of the first link drive assembly, wherein the hinge point 129 of the first link drive base and the hinge point 120 of the first link drive base are often arranged on a straight line parallel to the y-axis above, and adopt the way of integrated processing, and the rest of the structural components are the same, and the introduction will not be repeated.

It should be noted that when the driving screw rod of the first connecting rod is in the same straight line as the axis of the first connecting rod, or when the driving screw rod of the first arm is in the same straight line as the first arm, the multiple gripper with electric gripper in the embodiment of the present invention The axis mechanical arm will have a movement dead zone, and the first link or the first arm cannot be effectively controlled and moved; therefore, in specific implementation, the first link connecting part and the first arm connecting part are usually set at The first link and the first arm are not in line to avoid this from happening.

In actual operation, the platform of the embodiment of the present invention is fixed on a plane, and the lengths of the first arm, the second arm, the first connecting rod, and the second connecting rod are designed according to the actual required range of motion of the working end. The first driving assembly and the second driving assembly are controlled, and the four-bar linkage mechanism composed of the first arm, the second arm, the first connecting rod and the second connecting rod is controlled.

Since the multi-axis mechanical arm provided by the embodiment of the present invention sets the drive element on the platform at the bottom, the first arm and the second arm have no additional weight except their own weight and the weight of the matching connecting rod, and have the advantages of fast terminal movement speed, etc. Features: The end of the second arm is equipped with a working end that can rotate and rotate, which has a greater degree of freedom of movement and can meet various operating requirements; the driving components for the rotation and rotation of the working end are also installed on the platform. The weight of the moving part is lighter than that of the existing manipulator module, which is especially suitable for performing fast-moving operations at the end.

The structure of the electric gripper is introduced below. FIG. 10 shows a three-dimensional structure diagram of the electric gripper according to the embodiment of the present invention, and FIG. 11 shows a right view of the electric gripper according to the embodiment of the present invention. The electric gripper 1200 of the embodiment of the present invention is arranged on the autorotation end of the end of the second arm 103 , and the specific connection method is that the gripper shell 1100 is fixed on the autorotation end. The electric gripper connector 1201 is fixedly clamped between the ends of the two second arm cover plates 137 of the second arm 103 , and one end protrudes from the second arm 103 to connect with the back of the gripper housing 1100 of the electric gripper.

In order to clearly show the internal structure of the electric gripper in the embodiment of the present invention, the front side of the electric gripper x in the drawings is open. The electric gripper 1200 of the embodiment of the present invention includes a gripper body, a gripper drive flexible shaft 1113, and a gripper drive motor 1111;

The jaw body includes jaw housing 1100, jaw input shaft 1104, first jaw bevel gear 1105, second jaw bevel gear 1106, jaw screw rod 1103, jaw one 1101, jaw two 1102, jaw Jaw slider one 1121, jaw slider two 1122, jaw slide rail 1123;

The jaw housing 1100 is a box-shaped structure, the jaw input shaft 1104 is slidably installed on the negative side of the jaw housing x, and the end surface of the negative end of x is opened for connection with the end of the jaw input flexible shaft. The input blind hole of the jaw is not visible in Fig. 7 and Fig. 8 due to the viewing angle. For the specific structure, refer to the blind tool input hole located in the forward direction of the jaw shell 1100z. The cross-sectional shape of the jaw input blind hole can be set to any figure other than a circle. Considering the common interface shape and processing difficulty on the market, in specific implementation, the cross-sectional shape of the blind hole can be set to a regular hexagon; It can also be processed into blind holes for jaw input with a circular cross-section, and the transmission is based on the fit of grooves and keys.

In the x alignment direction of the jaw input shaft 1104, the first jaw bevel gear 1105 is connected and fixed, specifically, the rotation is realized based on the key on the jaw input shaft 1104 and the groove on the inner wall of the first jaw bevel gear 1105 transmission.

Inside the jaw housing 1100, a jaw screw rod 1103 is slidably arranged in the y direction. Specifically, bearings for installing the jaw screw rod can be provided on the positive and negative surfaces of the jaw housing y in the y direction. In the present invention In the embodiment, a bearing support frame extends from the jaw slide rail 1123 for installing the bearing, and the two ends of the jaw screw rod 1103 are respectively connected to the bearing. A second jaw bevel gear 1106 is connected and fixed on the periphery of the jaw screw rod 1103 in the positive y direction; the second jaw bevel gear 1106 meshes with the first jaw bevel gear 1105 , and the mutual axes are 90°.

It should be noted that, in order to realize that one jaw screw rod 1103 controls two jaws at the same time, and the movement direction of the two jaws is opposite, the screw rod 1103 of the embodiment of the present invention is threaded with the shaft of the jaw screw rod The middle section in the direction is the boundary section, and the screw thread on the negative side of the boundary section y is opposite to the screw thread on the positive side of the boundary section y, that is, the screw thread on one side is a left thread , the screw thread on the other side is right thread.

The first jaw 1101 and the second jaw 1102 are respectively arranged on both sides of the boundary section in the y direction, the first jaw 1101 of the embodiment of the present invention is arranged in the negative y direction of the boundary section, and the second jaw 1102 is arranged on the boundary surface y is positive. Jaw 1 1101 and Jaw 2 1102 are respectively fitted on the screw thread of the corresponding jaw screw. When the jaw screw rotates, Jaw 1 1101 and Jaw 2 1102 move closer to each other along the y direction. Or synchronous motion that deviates from each other.

In order to prevent jaw one 1101 and jaw two 1102 from rotating around the jaw screw rod 1103, in the embodiment of the present invention, a jaw slide rail 1123 is installed along the y direction on the bottom surface of the inner cavity of the jaw shell 1100, The first jaw slider 1121 and the second jaw slider 1122 are matched on the jaw slide rail 1123;

Although the structures of jaw one 1101 and jaw two 1102 can be set in different shapes, in order to avoid the complexity of part design and processing, they are usually designed to have the same structure and be symmetrical about their x-direction mid-section to reduce processing cost.

The structure of jaw 1 and jaw 2 of the embodiment of the present invention is the same and is symmetrical about the middle section in the y direction of itself. The starting end fits on the jaw screw rod 1103, and the end protrudes from the bottom surface of the jaw housing 1100 for clamping and positioning. . In order to avoid the tool input shaft 1108 provided in the middle, the cross-sectional shape of the first jaw 1101 and the second jaw 1102 of the present invention is a zigzag shape, and the start axis and the end axis of the jaws have a certain distance in the x direction, thereby avoiding tool input The shaft conflicts with the position of the jaw screw rod; since the jaw slide rail 1123 is a fixed part, the jaw slide rail 1123 can be cut to avoid the tool input shaft; while forming the avoidance, the clamps on both sides can also be The claw slider is limited.

It should be noted that when the clamping jaw adopts a zigzag design, in the specific design, the end of the clamping jaw and the input axis of the tool should be on the same yz plane, so that after clamping and positioning, the tool is not easy to loosen during operation.

Fig. 12 shows a schematic cross-sectional view of the jaw tip of an embodiment of the present invention. Further, in order to fine-tune the ends of the jaws, movable clips 1131 can be respectively provided on the opposite sides of the first end of the jaws and the two ends of the jaws. The embodiment of the present invention is described with the two ends of the jaws. The movable clip 1131 is fixed on the first jaw or the second jaw based on an adjustable screw 1133, and a fine-tuning screw 1132 can also be installed in order to maintain balance and improve its control accuracy. The adjustable screw 1133 and the fine-tuning screw 1131 are fitted on the end of the clamping jaw 21102 based on threads, and their axes are parallel to each other.

By controlling the extension length of the adjustable screw 1133 and the fine-tuning screw 1132 from the second jaw 1133 in the y direction, the extension distance of the movable clip 1131 from the second jaw 1102 can be controlled, and the final jaw one 1101 and the jaws can be affected. The distance between two 1102.

The structure described above is to realize the clamping and positioning function. When the jaw input shaft 1104 drives the jaw screw rod 1103 to rotate through the first jaw bevel gear 1105 and the second jaw bevel gear 1106, the jaw one 1101 and the jaw The second 1102 moves in the opposite direction or in the opposite direction; when the first jaw 1101 and the second jaw 1102 move in the opposite direction, since the movement of the first jaw 1101 and the second jaw 1102 is synchronous, when clamping a workpiece of the same size , its final clamping position is fixed; if other parts for workpiece processing are set on the jaw body, the positioning can be effectively performed.

In the embodiment of the present invention, the realization of the screw driving function is taken as an example to introduce the end of the tool.

Fig. 10 shows a schematic diagram of the three-dimensional structure of the tool end of the embodiment of the present invention, and Fig. 11 shows a formal schematic diagram of the tool end of the embodiment of the present invention. The end of the tool in the embodiment of the present invention is a screwing module 1140 , and the screwing module 1140 includes a tool input shaft 1141 , a tool transmission shaft 1143 , electromagnetic ring one 1142 , electromagnetic ring two 1144 , tool output shaft 1146 and a screwdriver bit 1147 .

The tool input shaft 1141 is installed on the top surface of the jaw housing 1100, and only has the degree of freedom of rotation; the electromagnetic ring 1142 is installed below the tool input shaft 1141; the cross-sectional shape of the tool transmission shaft 1143 is any figure except a circle, preferably , can be a regular hexagon; the upper end of the tool transmission shaft 1143 is connected and fixed with the tool input shaft 1141, and the lower end is slidingly fitted in the transmission groove 1145 of the tool output shaft 1146; the cross-sectional shape of the transmission groove 1145 matches the cross-sectional shape of the tool transmission shaft 1143; Above the tool output shaft 1146, an electromagnetic ring 2 1144 is connected and fixed; Magnet; the lower end of the tool output shaft 1146 passes through the bottom of the jaw housing 1100, and the end is connected and fixed with a screwdriver head 1147 based on magnetic attraction.

The tool input shaft 1141 is connected to the tool drive motor 1110 based on the tool flexible shaft and is driven by the tool drive motor 1110 . The specific connection method will be introduced later.

In the screwing module of the embodiment of the present invention, the first electromagnetic ring 1142 and the second electromagnetic ring 1144 are provided with coils, which can change the direction and strength of their magnetic poles through the direction and magnitude of the incoming current; With the cooperation of the tool transmission shaft 1143 , the tool output shaft 1146 can slide along the axis of the tool transmission shaft 1143 and rotate under the drive of the tool transmission shaft 1143 . When the first electromagnetic ring 1142 and the second electromagnetic ring 1144 are energized to attract action, the tool output shaft 1143 moves upward, and the second electromagnetic ring 1144 is adsorbed on the first electromagnetic ring 1142; when the first electromagnetic ring 1142 and the second electromagnetic ring 1144 repel each other , the tool output shaft 1143 has a downward force. In specific implementation, when the tool input shaft 1142 rotates, the tool output shaft 1146 is driven to rotate based on the tool transmission shaft 1143, thereby driving the screwdriver head 1147 at the lower end of the tool output circle 1146 to rotate; because the first electromagnetic ring 1142 and the second electromagnetic ring 1144 repel each other , The tool output shaft 1146 can give the screwdriver head and the screw a downward force, which is convenient for screwing in. The screw driving module uses the electromagnetic principle to control the axial movement of the output shaft of the tool, which improves the convenience of the screw driving operation, cooperates with the clamping movement of the jaws, and has good practicability.

The above is an introduction to the structure and movement of the jaw body. Further, in order to reduce the weight of the jaw body, the embodiment of the present invention arranges the jaw driving motor 1111 and the tool driving motor 1110 outside the jaw body.

In the embodiment of the present invention, since the jaw driving motor 1111 and the tool driving motor 1110 do not need to achieve precise distance control, therefore, ordinary motors with low cost can be used instead of high-cost servo motors. Since the clamping jaws of the embodiment of the present invention are limited by the external structure and size of the workpiece, and the screwing is judged according to the torque whether the screw is tightened, therefore, the clamping jaw driving motor 1111 and the tool driving motor 1110 can be used The output ends are respectively connected to torque limiters. Specifically, the torque limiter set at the end of the rotating shaft of the jaw driving motor 1111 is named as the jaw torque limiter 1117; the torque limiter set at the end of the rotating shaft of the tool driving motor 1110 is named as tool torque Limiter 1116.

Torque limiter, also called safety coupling, torque limiter, and safety clutch, is a component that connects the main machine and the working machine. The main function is overload protection. The torque limiter is the required torque caused by overload or mechanical failure. When the set value is exceeded, it limits the torque transmitted by the transmission system in the form of slipping, and automatically restores the connection when the overload situation disappears. This prevents mechanical damage and costly downtime. In the embodiment of the present invention, the torque limiter is used to realize the functions of judging the completion of the clamping action and judging the completion of the screwing action.

The jaw driving motor 1111 is used to drive the jaw input shaft 1104 , and the transmission between the jaw driving motor 1111 and the jaw input shaft 1104 is carried out through the jaw flexible shaft 1113 . The jaw flexible shaft 1113 of the present invention includes a flexible shaft input interface, a flexible shaft output interface, a hose, and a flexible shaft core; similarly, the tool drive motor 1110 in the embodiment of the present invention is connected to the tool input shaft 1141 based on the tool flexible shaft 1112, The tool flexible shaft 1112 has the same structure as the gripper flexible shaft 1113. Due to the relationship between views, the tool flexible shaft 1112 is used as an example for introduction below.

Fig. 13 shows a schematic cross-sectional structure diagram of a tool flexible shaft 1112 according to an embodiment of the present invention. Both ends of the flexible shaft core 1135 are respectively connected with a flexible shaft input interface 1136 and a flexible shaft output interface 1137, and the flexible shaft input interface 1136 of the present invention is connected with the output end of the torque limiter. The hose 1134 is sleeved outside the flexible shaft core 1135, and grease or lubricating oil is filled between the flexible shaft core 1135 and the hose 1134.

The hose in the embodiment of the present invention is a steel wire braided rubber hose; the steel wire braided rubber hose consists of a liquid-resistant synthetic rubber inner rubber layer, a middle rubber layer, a steel wire braided reinforcement layer and a synthetic rubber outer rubber layer with excellent weather resistance from the inside to the outside. The hose is made of special synthetic rubber, which has excellent oil resistance, heat resistance, and aging resistance. The hose bears high pressure, the tube body is tightly combined, soft to use, and has little deformation under pressure. It is more suitable as a hose for the flexible shaft of the gripper .

The cross-sectional shape of the flexible shaft output interface 1137 in the embodiment of the present invention should be compatible with the tool input blind hole of the tool input shaft. At the same time, in order to prevent the tool flexible shaft from detaching from the tool input shaft, the flexible shaft output interface 1137 can be fixed based on magnetic attraction. Inside the tool input blind hole.

When the electric gripper is in operation, the gripper driving motor and the tool driving motor can be fixed at a certain position, and then the gripper body is operated by the multi-axis mechanical arm according to the embodiment of the present invention to move. When the gripper body is in motion, firstly, the gripper drive motor drives the first gripper and the second gripper to move relative to each other to clamp the workpiece; after the first gripper and the second gripper are clamped, the torque of the gripper on the gripper drive motor is limited. If the device works, the clamping cannot be continued, and the clamping positioning is completed. At this time, the relative position between the clamping jaw body as a whole and the workpiece is fixed. Then, the tool drives the motor to drive the screwdriver head to rotate, and the electromagnetic ring 1 and electromagnetic ring 2 repel each other after being energized, giving the screwdriver head a downward force to tighten the screw on the workpiece into the workpiece; when the screw is tightened , the tool torque limiter takes effect and the bit stops moving. After the operation is completed, the electromagnetic ring 1 and the electromagnetic ring 2 attract each other, driving the output shaft of the tool to reset; the rest of the parts are reset, and the operation is completed at one time.

The multi-axis mechanical arm with electric gripper in the embodiment of the present invention controls the high-speed movement of the electric gripper to the set position through the multi-axis robotic arm, and uses the electric gripper to perform clamping and positioning and screwing operations; the arm of the multi-axis robotic arm The weight is light, and it can move at high speed; the electric gripper has only the gripper body fixed on the plane manipulator, and the load of the plane manipulator is small; the power input is made by the motor and the flexible shaft, and the impact force is small, which is not easy to cause damage to the plane manipulator. Influence: The jaw body can perform clamping positioning and screwing actions in a small volume, which has good practicability.

The multi-axis mechanical arm with electric gripper in the embodiment of the present invention controls the electric gripper to move to the set position at high speed through the mechanical arm, and uses the electric gripper to perform clamping and positioning and screwing operations; the weight of the arm of the planar robotic arm is relatively light , can perform high-speed movement; only the gripper body of the electric gripper is fixed on the planar manipulator, and the load of the planar manipulator is small; the power input of the motor and flexible shaft is used, the impact force is small, and it is not easy to affect the planar manipulator; The claw body can perform clamping, positioning and screwing actions in a small volume, which has good practicability.

A multi-axis robotic arm with electric gripper provided by the embodiment of the present invention has been introduced in detail above. In this paper, specific examples are used to illustrate the principle and implementation of the present invention. The description of the above embodiment is only for To help understand the method of the present invention and its core idea; at the same time, for those of ordinary skill in the art, according to the idea of the present invention, there will be changes in the specific implementation and scope of application. In summary, the content of this specification It should not be construed as a limitation of the invention.

Claims (10)

1. A multi-axis mechanical arm with electric jaws, characterized in that, the multi-axis mechanical arm with electric jaws comprises a platform, a first arm, a second arm, a first connecting rod, a second connecting rod, The first arm driving assembly, the first connecting rod driving assembly, the rotary end, the rotary driving assembly, the rotary transmission assembly and the electric gripper; The platform is parallel to the xy plane, and on the positive direction of the platform x, there are provided a first base rotation shaft connector and a second base rotation shaft connector opposite to the y direction; Between the opposite surfaces of the first base shaft connector and the second base shaft connector, a cylindrical first base shaft starting end is slidably mounted on the first base shaft connector; a cylindrical second base shaft The starting end of the rotating shaft is slidably installed on the connecting member of the second base rotating shaft; the axis of the first base rotating shaft and the axis of the second base rotating shaft are collinear and parallel to the y-axis; The starting end of the first arm is slidingly hinged on the first base shaft and/or the second base shaft, and the axis where the hinged position is located is the first joint; the end of the first arm is hinged to the starting end of the second arm, and the hinged position is The axis where it is located is the second joint; the end of the second arm is hinged to the rotary end, and the axis where the hinged position is located is the third joint; The starting end of the first connecting rod is slidably hinged to the first base shaft and/or the second base rotating shaft, and the end is hinged to the starting end of the second connecting rod; the end of the second connecting rod is hinged to the second arm In the middle or at the end; the first arm, the second arm, the first connecting rod and the second connecting rod form a four-bar linkage mechanism; The first arm driving assembly is installed on the platform for driving the first arm to rotate around the second base shaft; the first link driving assembly is installed on the platform for driving the The first connecting rod rotates around the first base shaft; The rotary transmission assembly includes a first rotary pulley, a second rotary pulley, a third rotary pulley and a rotary belt for transmission; The first revolving pulley is fixed on the first base shaft, the second revolving pulley is arranged on the second joint, and the third revolving pulley is arranged on the third joint, so The third revolving pulley is connected and fixed to the revolving end; The first revolving pulley, the second revolving pulley, and the third revolving pulley are connected based on a revolving belt; The slewing drive assembly is installed on the negative side of the connecting part y of the first base shaft, and the output end is connected to the beginning of the first base shaft to drive the base shaft, the first revolving pulley, the second revolving pulley, the second Three swivel pulleys and swivel end rotation; The electric gripper is arranged on the rotary end. 2. The multi-axis robotic arm with electric grippers according to claim 1, wherein the multi-axis robotic arm with electric grippers further comprises an autorotation end, an autorotation drive assembly, and an autorotation transmission assembly; The rotation end is arranged on the rotation end, and the axis is perpendicular to the third joint axis; The rotation transmission assembly includes a first rotation pulley, a second rotation pulley, a third rotation pulley, a first bevel gear and a second bevel gear; The first self-rotating pulley is fixed on the second base shaft, the second self-rotating pulley is arranged on the second joint, and the third self-rotating pulley is arranged on the third joint and is connected with The third rotary pulley is coaxial; The first bevel gear is fixed and coaxially connected with the third rotation pulley, and the second bevel gear is connected and fixed coaxially with the rotation end; the first bevel gear meshes with the second bevel gear ; The rotation drive assembly is installed in the positive direction of the second base rotation shaft connector y, and the output end is connected to the beginning of the second base rotation shaft to drive the second base rotation shaft, the first rotation pulley, and the second rotation pulley , the third self-rotation pulley and the first bevel gear rotate synchronously and drive the self-rotation end to rotate around its own axis based on the first bevel gear and the second bevel gear. 3. The multi-axis mechanical arm with electric gripper according to claim 1, wherein the first arm is parallel to the second connecting rod and has the same length; the first connecting rod is parallel to the second arm. 4. The multi-axis robotic arm with electric grippers according to claim 3, wherein the length of the second arm is greater than or equal to the length of the first link. 5. The multi-axis mechanical arm with electric grippers according to claim 1, wherein the first arm driving assembly comprises a first arm driving base, a first arm driving motor, a first arm driving screw, The first arm drive slider and the first arm drive connector; The first arm drive base is hinged in the negative x direction of the platform; The first arm driving screw and the first arm driving slider are installed in a first arm driving housing, the first arm driving slider is sleeved on the first arm driving screw, and the first arm The driving connector is connected and fixed to the drive slider of the first arm; the driving connector of the first arm is connected and fixed to the beginning of the first arm, and is coaxial with the screw rod; The first arm driving shell and the first arm driving motor are fixed side by side on the first arm driving base; the rotating shaft of the first arm driving motor and one end of the first arm driving screw are on the The drive base of the first arm is based on gear connection transmission; The first arm driving link drives the first arm to rotate around the second base rotation axis. 6. The multi-axis mechanical arm with electric grippers according to claim 1, wherein the first link drive assembly comprises a first link drive base, a first link drive motor, a first link drive a driving screw, a first connecting rod driving slider and a first connecting rod driving connecting piece; The first connecting rod drives the base to be hinged in the x-negative direction of the platform; The first connecting rod driving screw and the first connecting rod driving slider are installed in the first connecting rod driving housing, and the first connecting rod driving slider is sleeved on the first connecting rod driving screw, so The first connecting rod driving connector is connected and fixed with the first connecting rod driving slider; the first connecting rod driving connecting part is connected and fixed with the starting end of the first connecting rod, and is coaxial with the screw rod; The first connecting rod driving shell and the first connecting rod driving motor are fixed side by side on the first connecting rod driving base; the rotating shaft of the first connecting rod driving motor and the first connecting rod driving screw One end of the first connecting rod is connected and transmitted based on a gear in the first connecting rod driving base; The first connecting rod driving connector drives the first connecting rod to rotate around the first base rotation axis. 7. The multi-axis mechanical arm with electric gripper according to any one of claims 1 to 6, wherein the electric gripper comprises a gripper body, a gripper flexible shaft, and a gripper drive motor; The jaw body includes jaw shell, jaw input shaft, first jaw bevel gear, second jaw bevel gear, jaw screw rod, jaw one, jaw two, jaw slider one, jaw Slider 2, jaw slide rail; The jaw shell is a box-shaped structure, the jaw input shaft is slidably installed on the back of the jaw shell, one end protrudes from the jaw shell and the end surface is provided with a clip for connecting with the flexible shaft of the jaw The claw enters the blind hole, and the other end is located inside the jaw shell and is connected and fixed with the bevel gear of the first jaw; The second bevel gear meshes vertically with the first jaw bevel gear and is connected and fixed with the jaw screw rod; The two ends of the jaw screw rod are slidably installed between the two sides of the jaw shell, and the axial middle section is used as the interface, and the two sides of the interface are provided with screw threads with opposite rotation directions; The first end of the jaw first and the second end of the jaw are respectively installed on the screw threads on both sides of the interface of the jaw screw rod based on thread fit, and the ends extend out of the bottom surface of the jaw shell; The first jaw slider and the second jaw slider are respectively connected and fixed with the first jaw and the second jaw; the jaw slide rail is installed at the bottom of the inner cavity of the jaw shell, 1. Gripper slider 2 slides and fits on the jaw slide rail; The jaw driving motor is fixed outside the jaw housing, and the output end realizes transmission based on the connection between the flexible shaft of the jaw and the input shaft of the jaw. 8. The multi-axis mechanical arm with an electric gripper according to claim 7, wherein the electric gripper also includes a tool drive motor, a tool flexible shaft and a screwing module; The screw driving module includes a tool input shaft, a tool transmission shaft, an electromagnetic ring one, an electromagnetic ring two, a tool output shaft and a screwdriver head; The input shaft of the tool is installed on the top surface of the jaw housing and only has a degree of freedom of rotation, and the bottom end is located inside the jaw housing and is connected and fixed with an electromagnetic ring 1; The top end of the tool output shaft is connected and fixed with the electromagnetic ring 2, and the bottom end passes through the bottom of the jaw shell and is connected and fixed with the screwdriver head; The cross-sectional shape of the tool transmission shaft is any figure except circular, one end is fixed on the tool input shaft, the other end passes through the electromagnetic ring 1 and the electromagnetic ring 2, and is axially slidably fitted on the tool output shaft Inside; The axes of the tool input shaft, the tool transmission shaft, the tool output shaft and the screwdriver head are collinear; After the first electromagnetic ring and the second electromagnetic ring are energized, the output shaft of the tool moves axially toward the input shaft of the tool or moves away from the input shaft of the tool. 9. The multi-axis mechanical arm with electric grippers according to claim 8, wherein the flexible shaft of the gripper has the same structure as the flexible shaft of the tool, including a flexible shaft input interface, a flexible shaft output interface, Hose, flexible shaft core; The rotatable inner sleeve of the flexible shaft core is located inside the hose, the input end is connected and fixed to the input interface of the flexible shaft, and the output end is connected and fixed to the output interface of the flexible shaft. 10. The multi-axis mechanical arm with electric gripper as claimed in claim 8, wherein the electric gripper also includes a gripper torque limiter and a tool torque limiter; the gripper driving motor passes through the The jaw torque limiter is connected with the starting end of the jaw flexible shaft; the tool driving motor is connected with the starting end of the tool flexible shaft through the tool torque limiter.