CN109760017B - Serial-parallel hybrid 6-DOF industrial manipulator with two rotary waists - Google Patents

Abstract

The invention relates to a serial-parallel hybrid six-degree-of-freedom industrial robotic arm with two swivel waists, comprising a base, a first swivel waist, a second swivel waist, a first arm part, a second arm part, and a small arm , the first rotary drive rod, the second rotary drive rod, the gripper part, the first Hook hinge, the second Hook hinge, the first drive pin, the second drive pin, the first rotation axis and the second rotation axis , through the coordinated drive of the industrial manipulator through the first rotary drive rod, the second rotary drive rod, the first boom drive rod, the second boom drive rod, the drive rod and the motor, the three-dimensional movement of the workpiece in space and Three-dimensional rotation. Through the design of the serial-parallel-mixed six-degree-of-freedom industrial manipulator, the invention makes the serial-parallel-mixed six-degree-of-freedom industrial manipulator have the advantages of simple structure, high precision, strong bearing capacity, large working space and good process performance, etc. Widely used in automobile, electronics, nuclear industry, aerospace and other modern industrial fields.

Description

Serial-parallel hybrid 6-DOF industrial manipulator with two rotary waists

technical field

The invention belongs to the field of industrial robots, in particular to a serial-parallel hybrid six-degree-of-freedom industrial robotic arm with two rotary waists that can realize three-dimensional movement and three-dimensional rotation.

Background technique

The six-degree-of-freedom industrial manipulator is one of the earliest robots used in industrial production lines. With the continuous advancement of robotics, the composition of the six-degree-of-freedom industrial manipulator is also constantly improving. At present, the six-degree-of-freedom industrial manipulator mainly includes three structural forms: series, parallel, and series-parallel hybrid. The serial six-degree-of-freedom industrial manipulator has the characteristics of flexible movement, large working space and small carrying capacity; The manipulator has the characteristics of high rigidity, high precision, large bearing capacity and small working space; the series-parallel hybrid six-degree-of-freedom industrial manipulator is a kind of work space proposed by scholars in recent years by combining the advantages of series and parallel industrial manipulators. It is an industrial robotic arm with a more balanced carrying capacity. The serial-parallel hybrid industrial manipulator can effectively make up for the functional shortcomings of the serial six-degree-of-freedom industrial manipulator and the parallel six-degree-of-freedom industrial manipulator, and can be widely used in modern industrial fields.

SUMMARY OF THE INVENTION

In view of the above situation, the present invention provides a series-parallel hybrid six-degree-of-freedom industrial manipulator with two rotating waists, which overcomes the shortcomings of the serial six-degree-of-freedom industrial manipulator and the parallel six-degree-of-freedom industrial manipulator in the prior art. , Through the design of the serial-parallel-mixed 6-DOF industrial manipulator, the serial-parallel-mixed 6-DOF industrial manipulator has the advantages of simple structure, high precision, strong bearing capacity, large working space and good process performance, which can be widely used. It is widely used in modern industrial fields such as automobile, electronics, nuclear industry, aerospace and so on.

The technical solution adopted in the present invention is a series-parallel hybrid six-degree-of-freedom industrial robotic arm with two rotating waists, comprising a base, a first rotating waist, a second rotating waist, a first arm part, a second large arm Arm part, forearm, first rotary drive rod, second rotary drive rod, gripper part, first hook hinge, second hook hinge, first drive pin, second drive pin, first rotation axis and a second rotating shaft, the first ends of the first and second rotating waists are respectively arranged on the first and second ends of the upper surface of the base, and are rotatably connected to the upper surface of the base, and the The second end of the first swivel waist is fixedly connected with the first lower connecting piece of the first boom part, and the first upper connecting piece of the first boom part is connected to the first connecting piece through the first Hooke hinge The middle part of the forearm is connected, the second end of the second swivel waist is fixedly connected with the second lower connecting piece of the second big arm part, and the second upper connecting piece of the second big arm part passes through the The second Hooke hinge is connected with the first end of the forearm, the first end of the first rotary drive rod is rotatably connected with the first side surface of the first lower connecting member through the first rotating shaft, and Its second end is rotatably connected with the first drive pin shaft arranged in the middle position of the third end of the base, and the first end of the second rotary drive rod is connected with the second lower connecting piece through the second rotating shaft The first side of the pedestal is rotatably connected, and its second end is rotatably connected with a second drive pin arranged in the middle position of the fourth end of the base, and the gripper part is arranged on the second end of the small arm.

Further, the first boom component includes a first lower connecting piece, a first intermediate connecting piece, a first upper connecting piece, a first H-shaped connecting piece, a second H-shaped connecting piece, a third H-shaped connecting piece, a fourth H-shaped connecting piece, a first support pin, a second support pin, a third support pin, a fourth support pin, a first connection pin, a second connection pin and a first boom drive rod, The first end of the first H-shaped connecting piece is rotatably connected with the first end of the first lower connecting piece through the first support pin, and the second end of the first H-shaped connecting piece passes through the The first connecting pin is rotatably connected to the first end of the second H-shaped connecting piece, and the second end of the second H-shaped connecting piece is connected to the first upper connecting piece through the second supporting pin. The first end of the first upper connector is rotatably connected, and the second end of the first upper connector is rotatably connected to the first end of the third H-shaped connector through the third support pin, and the third H-shaped connector is connected. The second end of the member is rotatably connected with the first end of the fourth H-shaped connecting member through the second connecting pin, and the second end of the fourth H-shaped connecting member is connected by the fourth supporting pin It is rotatably connected with the second end of the first lower connecting piece, the first end of the first intermediate connecting piece is fixedly connected with the first connecting pin, and the second end is connected with the second connecting pin In a fixed connection, the first end of the first boom driving rod is rotatably connected with the middle of the fourth support pin, and the second end thereof is rotatably connected with the middle of the first connection pin.

Further, the second boom component includes a second lower connecting piece, a second intermediate connecting piece, a second upper connecting piece, a fifth H-shaped connecting piece, a sixth H-shaped connecting piece, a seventh H-shaped connecting piece, Eighth H-shaped connector, fifth support pin, sixth support pin, seventh support pin, eighth support pin, third connection pin, fourth connection pin, second boom drive rod, A driving rod and a third rotating shaft, the first end of the fifth H-shaped connecting piece is rotatably connected with the first end of the second lower connecting piece through the fifth supporting pin, and the fifth H-shaped connecting piece is connected in rotation with the first end of the second lower connecting piece The second end of the connecting piece is rotatably connected with the first end of the sixth H-shaped connecting piece through the third connecting pin, and the second end of the sixth H-shaped connecting piece passes through the sixth supporting pin It is rotatably connected with the first end of the second upper connecting piece, and the second end of the second upper connecting piece is rotatably connected with the first end of the seventh H-shaped connecting piece through the seventh support pin , the second end of the seventh H-shaped connecting piece is rotatably connected with the first end of the eighth H-shaped connecting piece through the fourth connecting pin, and the second end of the eighth H-shaped connecting piece The eighth support pin is rotatably connected with the second end of the second lower connecting piece, the first end of the second intermediate connecting piece is fixedly connected with the third connecting pin, and the second end of the second intermediate connecting piece is fixedly connected with the third connecting pin. It is fixedly connected with the fourth connecting pin, the first end of the second boom driving rod is rotatably connected with the middle of the eighth support pin, and the second end is connected with the third connecting pin. The middle part is rotatably connected, the first end of the drive rod is rotatably connected with the middle part of the fifth support pin, and the second end is rotatably connected with the third rotation shaft arranged in the middle position of the sixth H-shaped connecting piece .

Further, the gripper component includes a gripper, a gripper rotation shaft and a motor, the first end of the gripper is fixedly connected with the first end of the gripper rotation shaft, and the gripper rotation shaft passes through a coupling shaft. The device is connected with the output shaft of the motor.

Preferably, the rotation axes of the first swing waist and the second swing waist are parallel to each other.

Preferably, the axes of the first support pin, the second support pin, the third support pin, the fourth support pin, the first connection pin and the second connection pin are parallel to each other, and the fifth The axes of the support pin, the sixth support pin, the seventh support pin, the eighth support pin, the third connection pin, the fourth connection pin and the third rotation shaft are parallel to each other.

Preferably, the vertical distance from the first support pin axis to the fourth support pin axis and the vertical distance from the first connection pin axis to the second connection pin axis and the The vertical distance from the axis of the second support pin to the axis of the third support pin is the same, and the vertical distance from the axis of the first support pin to the axis of the first connection pin is the same as that of the fourth support pin The vertical distance between the axis of the shaft and the axis of the second connecting pin is the same, and the vertical distance between the axis of the first connecting pin and the axis of the second supporting pin is the same as the axis of the second connecting pin and the axis of the second supporting pin. The vertical distances between the axes of the third support pins are equal.

Preferably, the vertical distance between the axis of the fifth support pin and the axis of the eighth support pin, the vertical distance between the axis of the third connection pin and the axis of the fourth connection pin, and the vertical distance between the axis of the third connection pin and the axis of the fourth connection pin The vertical distance between the axis of the sixth support pin and the axis of the seventh support pin is the same, and the vertical distance between the axis of the fifth support pin and the axis of the third connecting pin is the same as that of the eighth support pin The vertical distance between the axis of the shaft and the axis of the fourth connecting pin is the same, and the vertical distance between the axis of the third connecting pin and the axis of the sixth supporting pin is the same as that between the axis of the fourth connecting pin and the axis of the sixth supporting pin. The vertical distances between the axes of the seventh support pins are equal.

Preferably, the horizontal axis of the rotational connection between the first Hook hinge and the middle part of the forearm and the horizontal axis of the rotational connection between the second Hook hinge and the first end of the forearm are parallel to each other. The vertical axis of the rotatable connection between the Hook hinge and the first upper connecting piece and the vertical axis of the rotatable connection between the second Hooke hinge and the second upper connecting piece are parallel to each other.

The characteristics and beneficial effects of the present invention are:

1. The series-parallel hybrid six-degree-of-freedom industrial manipulator arm with two rotating waists provided by the present invention has the advantages of high rigidity, high precision, strong bearing capacity, flexible movement and large working space;

2. In the series-parallel hybrid six-degree-of-freedom industrial manipulator arm with two rotating waists provided by the present invention, all motion pairs in the manipulator arm are realized by rotating pairs, and the structural and technological performance is safe and stable;

3. The serial-parallel hybrid six-degree-of-freedom industrial robotic arm with two rotating waists provided by the present invention can realize three-dimensional movement and three-dimensional rotation in space, and has good versatility, and can be widely used in automobiles, electronics , nuclear industry, aerospace and other modern industrial fields.

Description of drawings

Fig. 1 is a three-dimensional structural schematic diagram of a serial-parallel hybrid six-degree-of-freedom industrial robotic arm according to the present invention;

2 is a front view of a first boom component of a serial-parallel-mixed six-degree-of-freedom industrial robotic arm according to the present invention;

Fig. 3 is the rear view of the first boom part of the serial-parallel-mixed six-degree-of-freedom industrial manipulator of the present invention;

4 is a front view of the second boom component of the serial-parallel-mixed six-degree-of-freedom industrial manipulator of the present invention;

5 is a schematic diagram of a gripper component of a serial-parallel-mixed six-degree-of-freedom industrial robotic arm according to the present invention; and

FIG. 6 is a schematic diagram of the three-dimensional structure of Example 1 of the serial-parallel hybrid 6-DOF industrial manipulator of the present invention.

Main reference signs:

Base 1; first swivel waist 2; second swivel waist 3; first arm part 4; first lower connecting piece 401; first rotating shaft 4011; An H-shaped connector 404; the second H-shaped connector 405; the third H-shaped connector 406; the fourth H-shaped connector 407; the first support pin 408; the second support pin 409; the third support pin 410; the fourth support pin 411; the first connection pin 412; the second connection pin 413; the first boom driving rod 414; the second boom part 5; the second lower connecting piece 501; ; The second intermediate connector 502; The second upper connector 503; The fifth H-shaped connector 504; The sixth H-shaped connector 505; The seventh H-shaped connector 506; The eighth H-shaped connector 507; The fifth support pin 508; sixth support pin 509; seventh support pin 510; eighth support pin 511; third connection pin 512; fourth connection pin 513; second boom drive rod 514; drive rod 515 ; The third rotating shaft 516; the arm 6; the first rotary drive rod 7; the second rotary drive rod 8; the gripper part 9; the motor 901; The second Hooke hinge 11 ; the first drive pin 12 ; the second drive pin 13 ; the cylindrical workpiece 14 .

Detailed ways

In order to detail the technical content, structural features, achieved objects and effects of the present invention, the following will be described in detail with reference to the accompanying drawings.

The present invention provides a series-parallel hybrid six-degree-of-freedom industrial robotic arm with two rotating waists, as shown in FIG. 1 , including a base 1, a first rotating waist 2, a second rotating waist 3, and a first boom component 4. The second arm part 5, the small arm 6, the first rotary drive rod 7, the second rotary drive rod 8, the gripper part 9, the first Hook hinge 10, the second Hook hinge 11, the first drive pin The shaft 12, the second driving pin shaft 13, the first rotating shaft 4011 and the second rotating shaft 5011, the first ends of the first rotating waist 2 and the second rotating waist 3 are respectively set on the first end and the first end of the upper surface of the base 1. The two ends are rotatably connected to the upper surface of the base 1 , the second end of the first swivel waist 2 is fixedly connected to the first lower connecting piece 401 of the first boom part 4 , and the first upper part of the first boom part 4 is connected The part 403 is connected with the middle part of the forearm 6 through the first Hook hinge 10, the second end of the second swivel waist 3 is fixedly connected with the second lower connecting piece 501 of the second arm part 5, and the second arm part 5 The second upper connecting member 503 is connected to the first end of the forearm 6 through the second Hooke hinge 11, and the first end of the first rotary drive rod 7 is connected to the first end of the first lower connecting member 401 through the first rotating shaft 4011. The side surface is rotatably connected, and its second end is rotatably connected with the first drive pin 12 located at the middle position of the third end of the base 1, and the first end of the second rotary drive rod 8 is connected with the second lower through the second rotating shaft 5011. The first side of the component 501 is rotatably connected, and its second end is rotatably connected with the second drive pin 13 located at the middle position of the fourth end of the base 1. The claw component 9 is located on the second end of the forearm 6, and the first The rotation axes of the first swivel waist 2 and the second swivel waist 3 are parallel to each other.

As shown in FIGS. 2 and 3 , the first boom part 4 includes a first lower connecting piece 401 , a first intermediate connecting piece 402 , a first upper connecting piece 403 , a first H-shaped connecting piece 404 , and a second H-shaped connecting piece 405, third H-shaped connector 406, fourth H-shaped connector 407, first support pin 408, second support pin 409, third support pin 410, fourth support pin 411, first connection The pin 412, the second connecting pin 413 and the first boom driving rod 414, the first end of the first H-shaped connecting piece 404 is rotatably connected with the first end of the first lower connecting piece 401 through the first supporting pin 408 , and the second end of the first H-shaped connector 404 is rotatably connected with the first end of the second H-shaped connector 405 through the first connecting pin 412, and the second end of the second H-shaped connector 405 is connected by the second support The pin 409 is rotatably connected with the first end of the first upper connecting piece 403, and the second end of the first upper connecting piece 403 is rotatably connected with the first end of the third H-shaped connecting piece 406 through the third supporting pin 410, The second end of the third H-shaped connecting piece 406 is rotatably connected with the first end of the fourth H-shaped connecting piece 407 through the second connecting pin shaft 413 , and the second end of the fourth H-shaped connecting piece 407 passes through the fourth supporting pin The shaft 411 is rotatably connected with the second end of the first lower connecting piece 401 , the first end of the first intermediate connecting piece 402 is fixedly connected with the first connecting pin 412 , and the second end thereof is fixedly connected with the second connecting pin 413 , the first end of the first boom driving rod 414 is rotatably connected with the middle of the fourth support pin 411 , and the second end thereof is rotatably connected with the middle of the first connection pin 412 .

Specifically, the axes of the first support pin 408 , the second support pin 409 , the third support pin 410 , the fourth support pin 411 , the first connection pin 412 and the second connection pin 413 are parallel to each other. The vertical distance between the axis of a support pin 408 and the axis of the fourth support pin 411 and the vertical distance between the axis of the first connection pin 412 and the axis of the second connection pin 413 and the axis of the second support pin 409 to the third The vertical distances between the axes of the support pins 410 are all equal, and the vertical distance between the axes of the first support pins 408 and the axes of the first connection pins 412 is the same as the vertical distance between the axes of the fourth support pins 411 and the axes of the second connection pins 413 The distances are equal, and the vertical distance from the axis of the first connection pin 412 to the axis of the second support pin 409 is the same as the vertical distance between the axis of the second connection pin 413 and the axis of the third support pin 410 .

As shown in FIG. 4 , the second boom part 5 includes a second lower connecting piece 501 , a second intermediate connecting piece 502 , a second upper connecting piece 503 , a fifth H-shaped connecting piece 504 , a sixth H-shaped connecting piece 505 , Seventh H-shaped connector 506 , eighth H-shaped connector 507 , fifth support pin 508 , sixth support pin 509 , seventh support pin 510 , eighth support pin 511 , third connection pin 512 , the fourth connecting pin 513, the second boom driving rod 514, the driving rod 515 and the third rotating shaft 516, the first end of the fifth H-shaped connecting piece 504 is connected to the second lower connecting piece through the fifth supporting pin 508 The first end of the 501 is rotatably connected, and the second end of the fifth H-shaped connector 504 is rotatably connected to the first end of the sixth H-shaped The second end is rotatably connected to the first end of the second upper connecting member 503 through the sixth support pin 509 , and the second end of the second upper connecting member 503 is connected to the seventh H-shaped connecting member 506 through the seventh support pin 510 The first end of the H-shaped connector 506 is rotatably connected, the second end of the seventh H-shaped connector 506 is rotatably connected to the first end of the eighth H-shaped connector 507 through the fourth connecting pin 513, and the second end of the The two ends are rotatably connected to the second end of the second lower connecting member 501 through the eighth support pin 511 , the first end of the second intermediate connecting member 502 is fixedly connected to the third connecting pin 512 , and the second end is connected to the second lower connecting member 501 . The four connecting pins 513 are fixedly connected, the first end of the second boom driving rod 514 is rotatably connected with the middle of the eighth support pin 511, and the second end is rotatably connected with the middle of the third connecting pin 512, and the driving rod The first end of the 515 is rotatably connected to the middle of the fifth support pin 508 , and the second end of the 515 is rotatably connected to the third rotating shaft 516 located in the middle of the sixth H-shaped connecting piece 505 .

Specifically, the fifth support pin 508 , the sixth support pin 509 , the seventh support pin 510 , the eighth support pin 511 , the third connection pin 512 , the fourth connection pin 513 and the third rotation axis 516 The axes are parallel to each other, the vertical distance between the axis of the fifth support pin 508 and the axis of the eighth support pin 511 and the vertical distance between the axis of the third connection pin 512 and the axis of the fourth connection pin 513 and the vertical distance between the axis of the sixth support pin The vertical distances from the axis of the shaft 509 to the axis of the seventh support pin 510 are all equal, and the vertical distance from the axis of the fifth support pin 508 to the axis of the third connection pin 512 is the same as the axis of the eighth support pin 511 to the fourth connection pin The vertical distance between the axes of the shafts 513 is equal, and the vertical distance between the axis of the third connection pin 512 and the axis of the sixth support pin 509 is equal to the vertical distance between the axis of the fourth connection pin 513 and the axis of the seventh support pin 510 .

As shown in FIG. 5 , the gripper member 9 includes a gripper 903, a gripper rotation shaft 902 and a motor 901. The first end of the gripper 903 is fixedly connected to the first end of the gripper rotation shaft 902, and the gripper rotation shaft 902 passes through The coupling is connected to the output shaft of the motor 901 .

As shown in FIG. 6 , by clamping the cylindrical workpiece 14 at the second end of the gripper 903 , the three-dimensional movement and three-dimensional rotation of the cylindrical workpiece 14 in space can be realized.

The concrete operation steps of the present invention are as follows:

As shown in Figures 1-6, the serial-parallel hybrid 6-DOF industrial robotic arm with two rotating waists of the present invention includes a base 1, a first rotating waist 2, a second rotating waist 3, and a first boom component 4. The second arm part 5, the small arm 6, the first rotary drive rod 7, the second rotary drive rod 8, the gripper part 9, the first Hook hinge 10, the second Hook hinge 11, the first drive pin The shaft 12, the second driving pin shaft 13, the first rotating shaft 4011 and the second rotating shaft 5011, simultaneously drive the first rotating driving rod 7 and the second rotating driving rod 8 to make the first rotating waist and the second rotating waist rotate around it Rotation of the axis can realize one-dimensional rotation and one-dimensional movement of the cylindrical workpiece 14 .

The first boom part 4 includes a first lower connecting piece 401, a first intermediate connecting piece 402, a first upper connecting piece 403, a first H-shaped connecting piece 404, a second H-shaped connecting piece 405, and a third H-shaped connecting piece 406, the fourth H-shaped connector 407, the first support pin 408, the second support pin 409, the third support pin 410, the fourth support pin 411, the first connection pin 412, the second connection pin 413 and the first boom driving rod 414 , the first end of the first boom driving rod 414 is rotatably connected with the middle of the fourth support pin 411 , and the second end is rotatably connected with the middle of the first connecting pin 412 .

The second boom part 5 includes a second lower connector 501, a second intermediate connector 502, a second upper connector 503, a fifth H-shaped connector 504, a sixth H-shaped connector 505, and a seventh H-shaped connector 506, the eighth H-shaped connector 507, the fifth support pin 508, the sixth support pin 509, the seventh support pin 510, the eighth support pin 511, the third connection pin 512, the fourth connection pin 513, the second boom driving rod 514, the driving rod 515 and the third rotating shaft 516, the first end of the second boom driving rod 514 is rotatably connected with the middle of the eighth support pin 511, and the second end is connected with the The middle part of the three connecting pins 512 is rotatably connected, the first end of the driving rod 515 is rotatably connected with the middle part of the fifth support pin 508 , and the second end thereof is rotatably connected with the third rotatable part located in the middle position of the sixth H-shaped connecting piece 505 . The shaft 516 is rotatably connected, and by driving the first boom driving rod 414 and the second boom driving rod 514, the heights of the first boom part 4 and the second boom part 5 can be adjusted, so as to realize the cylindrical workpiece 14. The height of the second boom part 5 can be adjusted through the driving rod 515 , so as to realize the one-dimensional rotation of the cylindrical workpiece 14 .

The gripper component 9 includes a gripper 903 , a gripper rotating shaft 902 and a motor 901 , and driving the motor 901 to drive the gripper rotating shaft 902 to rotate along its axis, thereby realizing one-dimensional rotation of the cylindrical workpiece 14 .

In the serial-parallel hybrid six-degree-of-freedom industrial robotic arm with two rotating waists provided by the present invention, the first rotating waist 2 and the second rotating waist 3 are arranged in parallel on the first end and the second end of the upper surface of the base 1, And it is rotatably connected with the upper surface of the base 1, while the second ends of the first swing waist 2 and the second swing waist 3 are respectively connected with the first lower connecting piece 401 of the first arm part 4 and the second end of the second arm part 5. The lower connecting piece 501 is fixedly connected, and the industrial manipulator is connected to the industrial manipulator by connecting the first rotary drive rod 7 , the second rotary drive rod 8 , the first boom driving rod 414 , the second boom driving rod 514 , the driving rod 515 and the motor 901 . The coordinated drive can realize the three-dimensional movement and three-dimensional rotation of the workpiece in space. At the same time, all the motion pairs in the serial-parallel hybrid six-degree-of-freedom manipulator are realized by rotating pairs, and the structure and process performance is safe, stable, and universal.

At the same time, it overcomes the shortcomings of low bearing capacity and low precision of the serial six-degree-of-freedom industrial manipulator in the prior art, and takes into account the advantages of the parallel industrial manipulator. The parallel hybrid 6DOF industrial manipulator has the advantages of simple structure, high precision, strong carrying capacity, large working space and good process performance, and can be widely used in modern industrial fields such as automobile, electronics, nuclear industry, aerospace and so on.

The above are the preferred embodiments of the present application, which do not limit the protection scope of the present invention. It should be pointed out that for those of ordinary skill in the technical field, some improvements can be made without departing from the technical principles of the present invention. and modifications, these improvements and modifications should also be considered as the scope of protection of the present application.

Claims (7)

1. A series-parallel connection six-degree-of-freedom industrial mechanical arm with two rotary waists is characterized by comprising a base, a first rotary waist, a second rotary waist, a first large arm component, a second large arm component, a small arm, a first rotary driving rod, a second rotary driving rod, a paw component, a first hook hinge, a second hook hinge, a first driving pin shaft, a second driving pin shaft, a first rotating shaft and a second rotating shaft,

the first ends of the first rotary waist and the second rotary waist are respectively arranged at the first end and the second end of the upper surface of the base and are rotatably connected with the upper surface of the base, the second end of the first rotary waist is fixedly connected with the first lower connecting piece of the first big arm component, the first upper connecting piece of the first big arm component is connected with the middle part of the small arm through the first Hooke hinge, the second end of the second rotary waist is fixedly connected with the second lower connecting piece of the second big arm component, the second upper connecting piece of the second big arm component is connected with the first end driving rod of the small arm through the second Hooke hinge, the first end of the first rotary waist is rotatably connected with the first side surface of the first lower connecting piece through the first rotary shaft, and the second end of the first rotary waist is rotatably connected with the first driving pin shaft arranged at the middle position of the third end of the base, the first end of the second rotary driving rod is rotatably connected with the first side surface of the second lower connecting piece through the second rotating shaft, the second end of the second rotary driving rod is rotatably connected with a second driving pin shaft arranged at the middle position of the fourth end of the base, and the paw part is arranged at the second end of the small arm;

the first big arm component comprises a first lower connecting piece, a first middle connecting piece, a first upper connecting piece, a first H-shaped connecting piece, a second H-shaped connecting piece, a third H-shaped connecting piece, a fourth H-shaped connecting piece, a first supporting pin shaft, a second supporting pin shaft, a third supporting pin shaft, a fourth supporting pin shaft, a first connecting pin shaft, a second connecting pin shaft and a first big arm driving rod, wherein the first end of the first H-shaped connecting piece is rotatably connected with the first end of the first lower connecting piece through the first supporting pin shaft, the second end of the first H-shaped connecting piece is rotatably connected with the first end of the second H-shaped connecting piece through the first connecting pin shaft, the second end of the second H-shaped connecting piece is rotatably connected with the first end of the first upper connecting piece through the second supporting pin shaft, and the second end of the first upper connecting piece is rotatably connected with the first end of the third H-shaped connecting piece through the third supporting pin shaft, the second end of the third H-shaped connecting piece is rotatably connected with the first end of the fourth H-shaped connecting piece through the second connecting pin shaft, the second end of the fourth H-shaped connecting piece is rotatably connected with the second end of the first lower connecting piece through the fourth supporting pin shaft, the first end of the first middle connecting piece is fixedly connected with the first connecting pin shaft, the second end of the first middle connecting piece is fixedly connected with the second connecting pin shaft, the first end of the first large arm driving rod is rotatably connected with the middle part of the fourth supporting pin shaft, and the second end of the first large arm driving rod is rotatably connected with the middle part of the first connecting pin shaft;

the second big arm part comprises a second lower connecting piece, a second middle connecting piece, a second upper connecting piece, a fifth H-shaped connecting piece, a sixth H-shaped connecting piece, a seventh H-shaped connecting piece, an eighth H-shaped connecting piece, a fifth supporting pin shaft, a sixth supporting pin shaft, a seventh supporting pin shaft, an eighth supporting pin shaft, a third connecting pin shaft, a fourth connecting pin shaft, a second big arm driving rod, a driving rod and a third rotating shaft, wherein the first end of the fifth H-shaped connecting piece is rotatably connected with the first end of the second lower connecting piece through the fifth supporting pin shaft, the second end of the fifth H-shaped connecting piece is rotatably connected with the first end of the sixth H-shaped connecting piece through the third connecting pin shaft, the second end of the sixth H-shaped connecting piece is rotatably connected with the first end of the second upper connecting piece through the sixth supporting pin shaft, and the second end of the second upper connecting piece is rotatably connected with the first end of the seventh H-shaped connecting piece through the seventh supporting pin shaft And the second end of the seventh H-shaped connecting piece is connected with the first end of the eighth H-shaped connecting piece in a rotating manner, the second end of the eighth H-shaped connecting piece is connected with the second end of the second lower connecting piece in a rotating manner, the first end of the second middle connecting piece is fixedly connected with the third connecting pin shaft, the second end of the second middle connecting piece is fixedly connected with the fourth connecting pin shaft, the first end of the second large-arm driving rod is connected with the middle of the eighth supporting pin shaft in a rotating manner, the second end of the second middle connecting piece is connected with the middle of the third connecting pin shaft in a rotating manner, the first end of the driving rod is connected with the middle of the fifth supporting pin shaft in a rotating manner, and the second end of the driving rod is connected with the third rotating shaft arranged at the middle position of the sixth H-shaped connecting piece in a rotating manner.

2. The series-parallel connection six-degree-of-freedom industrial mechanical arm with the two turning waists is characterized in that the paw component comprises a paw, a paw rotating shaft and a motor, the first end of the paw is fixedly connected with the first end of the paw rotating shaft, and the paw rotating shaft is connected with an output shaft of the motor through a coupler.

3. The series-parallel six-degree-of-freedom industrial robot arm with two turning waists according to claim 1, wherein the rotation axes of the first turning waist and the second turning waist are parallel to each other.

4. The series-parallel connection six-degree-of-freedom industrial robot arm with two turning waists as claimed in claim 1, wherein the axes of the first support pin, the second support pin, the third support pin, the fourth support pin, the first connecting pin and the second connecting pin are parallel to each other, and the axes of the fifth support pin, the sixth support pin, the seventh support pin, the eighth support pin, the third connecting pin, the fourth connecting pin and the third rotating shaft are parallel to each other.

5. The series-parallel six-degree-of-freedom industrial robot arm with two turning waists as claimed in claim 1, wherein the vertical distance between the axis of the first support pin shaft and the axis of the fourth support pin shaft is equal to both the vertical distance between the axis of the first connection pin shaft and the axis of the second connection pin shaft and the vertical distance between the axis of the second support pin shaft and the axis of the third support pin shaft, the vertical distance between the axis of the first support pin shaft and the axis of the first connection pin shaft is equal to the vertical distance between the axis of the fourth support pin shaft and the axis of the second connection pin shaft, and the vertical distance between the axis of the first connection pin shaft and the axis of the second support pin shaft is equal to the vertical distance between the axis of the second connection pin shaft and the axis of the third support pin shaft.

6. The series-parallel connection six-degree-of-freedom industrial robot arm with two turning waists as claimed in claim 1, wherein the vertical distance between the axis of the fifth support pin shaft and the axis of the eighth support pin shaft is equal to both the vertical distance between the axis of the third connection pin shaft and the axis of the fourth connection pin shaft and the vertical distance between the axis of the sixth support pin shaft and the axis of the seventh support pin shaft, the vertical distance between the axis of the fifth support pin shaft and the axis of the third connection pin shaft is equal to the vertical distance between the axis of the eighth support pin shaft and the axis of the fourth connection pin shaft, and the vertical distance between the axis of the third connection pin shaft and the axis of the sixth support pin shaft is equal to the vertical distance between the axis of the fourth connection pin shaft and the axis of the seventh support pin shaft.

7. The series-parallel connection six-degree-of-freedom industrial robot arm with two turning waists as claimed in claim 1, wherein a horizontal axis of the first hook joint rotatably connected with the middle of the forearm and a horizontal axis of the second hook joint rotatably connected with the first end of the forearm are parallel to each other, and a vertical axis of the first hook joint rotatably connected with the first upper connecting member and a vertical axis of the second hook joint rotatably connected with the second upper connecting member are parallel to each other.

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