CN116276945B

CN116276945B - Six-degree-of-freedom joint type mechanical arm

Info

Publication number: CN116276945B
Application number: CN202310047930.1A
Authority: CN
Inventors: 游广飞; 卢志辉; 郑国良; 孙志扬; 乔永强; 陈超; 张磊乐
Original assignee: Zhengzhou Research Institute of Mechanical Engineering Co Ltd
Current assignee: Zhengzhou Research Institute of Mechanical Engineering Co Ltd
Priority date: 2023-01-31
Filing date: 2023-01-31
Publication date: 2023-12-19
Anticipated expiration: 2043-01-31
Also published as: CN116276945A

Abstract

The invention discloses a six-degree-of-freedom joint type mechanical arm, which comprises a first shaft seat, a second shaft seat, a three-shaft arm rod, a four-shaft arm rod, a five-shaft arm rod and a claw hand which are sequentially connected, wherein a first joint is arranged between the second shaft seat and the three-shaft arm rod, a second joint is arranged between the three-shaft arm rod and the four-shaft arm rod, a third joint is arranged between the four-shaft arm rod and the five-shaft arm rod, and elastic clamping plate structures are arranged on two sides of the five-shaft arm rod; the triaxial arm lever comprises a first arm lever and a second arm lever, and the first arm lever and the second arm lever are consistent in axial direction and are connected with each other in a rotating way through a first rotating shaft; the first rotary clamping reinforcing component, the second rotary clamping reinforcing component and the third rotary clamping reinforcing component are matched with each other, so that the overall structural strength of the mechanical arm can be greatly enhanced, and the mechanical arm can bear heavier workpiece object picking and placing operations.

Description

Six-degree-of-freedom joint type mechanical arm

Technical Field

The invention relates to the technical field of mechanical arms, in particular to a six-degree-of-freedom joint type mechanical arm.

Background

The mechanical arm can greatly improve the production efficiency, stabilize and improve the product quality, improve the labor condition of workers and improve the mechanization and automation degree of industrial production, and the degree of freedom of the mechanical arm used by the existing mobile robot is more, and generally has 5-7 degrees of freedom; the joint type mechanical arm with six degrees of freedom is most commonly used, and can flexibly act like a human;

the utility model provides a remove six degrees of freedom articulated arm of application number CN202010143146.7, including first degree of freedom subassembly, second degree of freedom subassembly, third degree of freedom subassembly, fourth degree of freedom subassembly, fifth degree of freedom subassembly, sixth degree of freedom subassembly, arm mounting panel, wherein, the connecting piece of degree of freedom No. three is the spliced pole, the middle part integrated into one piece of spliced pole has the cavity, the cavity internal fixation has the storage bottle, the inside of storage bottle stores the antiseptic solution, the output of charge pump is connected with the conveyer pipe respectively through the hose, the conveyer pipe is connected with the nozzle;

a six-degree-of-freedom mechanical arm with application number of CN201810888107.2, which consists of a base part, a middle arm part of a large arm and a wrist part. The base part is rotatably connected with the middle arm part of the large arm through a thrust roller bearing, and the middle arm part of the large arm is connected with the wrist part through bolts. The rotation relation between the middle arm and the base of the large arm is a first degree of freedom, the rotation relation between the large arm and the disc is a second degree of freedom, the rotation relation between the middle arm and the large arm is a third degree of freedom, and the rotation relation between the wrist and the middle arm is a fourth degree of freedom;

in the prior art, the mechanical arm is flexible, but the structural strength is not high at the rotating joint of the shaft, and heavier workpiece objects cannot be born for picking and placing.

Disclosure of Invention

(one) solving the technical problems

The present invention has been made to solve the above-mentioned problems, and an object of the present invention is to provide a six-degree-of-freedom articulated arm.

(II) technical scheme

In order to achieve the above purpose, the present invention provides the following technical solutions:

the invention provides a six-degree-of-freedom joint type mechanical arm which comprises a first shaft seat, a second shaft seat, a three-shaft arm rod, a four-shaft arm rod, a five-shaft arm rod and a claw hand which are sequentially connected, wherein a first joint is arranged between the second shaft seat and the three-shaft arm rod, a second joint is arranged between the three-shaft arm rod and the four-shaft arm rod, a third joint is arranged between the four-shaft arm rod and the five-shaft arm rod, and elastic clamping plate structures are arranged on two sides of the five-shaft arm rod;

the triaxial arm lever comprises a first arm lever and a second arm lever, and the first arm lever and the second arm lever are consistent in axial direction and are connected with each other in a rotating way through a first rotating shaft;

the four-axis arm rod comprises a third arm rod and a fourth arm rod, and the axial directions in front of the third arm rod and the fourth arm rod are consistent and are in rotary connection with each other through a second rotary shaft;

the triaxial arm rod is provided with a first rotation clamping reinforcing assembly for reinforcing the first joint and the first rotation shaft;

the four-axis arm rod is provided with a second rotation clamping reinforcing assembly for reinforcing a second joint and a second rotation shaft;

and a third rotary clamping reinforcing assembly used for reinforcing a third joint and a claw is arranged on the five-axis arm rod.

Further, first rotatory chucking reinforcement subassembly is including seting up the first direction spout on first armed lever both sides wall, and the slip is provided with first slip table in two first direction spouts respectively, is provided with the first electric telescopic handle that is used for adjusting interval size between the two between two first slips tables, first electric telescopic handle is fixed to be set up in first armed lever, and two first slips tables are close to the first joint one end all fixedly connected with first stiffening rod respectively, one side fixedly connected with first direction pole's of first stiffening rod is close to one end of first armed lever, in the first guiding hole that the other end sliding connection of first direction pole was seted up to first armed lever corresponds the position, the second axle bed is close to fixedly on the lateral wall of first joint and is provided with first clamping ring gear, first stiffening rod is close to the first meshing tooth of first clamping ring gear cooperation meshing with first slip table, and first sliding table is close to under to the nearest distance at first electric telescopic handle drive two first meshing tooth and first clamping ring each other, and two first slips are close to the first rotation axis of first rotation piece all fixedly connected with chucking each other.

Further, the one end outside that first armed lever is close to first rotation axis is fixed to be provided with first support lantern ring, and one side fixedly connected with first guiding axle that first support lantern ring is close to first chucking piece, set up on the first chucking piece with the gliding first connecting guide hole of first guiding axle cooperation direction, the outside of first rotation axis has been seted up and has been the first draw-in groove of ring form, and the cross section shape of first draw-in groove is the V type, is close to under the closest distance at two first slip tables of first electric telescopic handle drive, first chucking piece and first draw-in groove meshing each other.

Further, the second rotation chucking reinforcing component is including seting up the second direction spout on third armed lever both sides wall, and the second slip table that is provided with in two second direction spouts respectively to slide, is provided with the second electric telescopic handle that is used for adjusting interval size between the two slip tables, the fixed setting of second electric telescopic handle is in the third armed lever, and the one end that two second slip tables are close to the second joint all is fixedly connected with second reinforcing rod respectively, the second arm lever is close to fixedly on the lateral wall of second joint be provided with the second clamping ring gear, the second reinforcing rod is close to the fixed second meshing tooth that is provided with of second clamping ring gear cooperation meshing with the one end of second clamping ring gear, is close to under the closest distance at two second electric telescopic handle drive second meshing tooth and second clamping ring gear each other, and the one end that two second slip tables are close to the second rotation axis all is fixedly connected with second clamping piece respectively.

Further, the one end outside that the third armed lever is close to the second rotation axis is fixed to be provided with the second and is supported the lantern ring, and one side fixedly connected with second guiding axle that the second supports the lantern ring and is close to the second chucking piece, set up on the second chucking piece with the gliding second of second guiding axle cooperation direction connect the guide hole, the second draw-in groove that is the ring form has been seted up in the outside of second rotation axis, and the cross section shape of second draw-in groove is the V type, is close to under the closest distance at two second slip tables of second electric telescopic handle drive, second chucking piece and second draw-in groove meshing each other.

Further, the third rotatory chucking reinforcement subassembly is including seting up the third direction spout on five arm pole both sides wall, slide respectively in two third direction spouts and be provided with the third slip table, be provided with the third electric telescopic handle that is used for adjusting interval size between the two third slip tables, the fixed setting of third electric telescopic handle is in five arm pole, and two third slip tables are close to the one end of third joint and all fixedly connected with third reinforcing rod respectively, the fourth arm pole is close to fixedly on the lateral wall of third joint and is provided with the third clamping ring, the third reinforcing rod is close to the fixed third meshing tooth that is provided with third clamping ring cooperation meshing in the one end of third clamping ring, the one side that two third slip tables are close to each other is equal fixedly connected with the one end of more than two third guide levers, and the other end sliding connection of third guide lever is to five arm pole internal fixation is provided with in the guide cylinder, and under the third electric telescopic handle drive two third slip tables are close to the closest distance, and third meshing tooth and third clamping ring each other, and two slip tables are close to the outer side wall that is close to the outer leg of a plurality of clamping arms and all have a plurality of clamping claws to be provided with the hand post that cooperates with one end.

Further, the elastic clamping plate structure comprises a telescopic cavity which is formed in the five-axis arm rod in a penetrating mode, a partition plate is fixedly arranged in the middle of the telescopic cavity, telescopic sliding blocks are slidably arranged at openings of two ends of the telescopic cavity, clamping plates are fixedly arranged at one ends, away from each other, of the two telescopic sliding blocks, and springs are fixedly connected between the end portions of each telescopic sliding block and the partition plate.

Further, the first motor used for driving the triaxial arm rod to rotate around the first joint is fixedly arranged in the end, close to the diaxon seat, of the first arm rod, the second motor used for driving the tetraxial arm rod to rotate around the second joint is fixedly arranged in the end, close to the triaxial arm rod, of the third arm rod, and the third motor used for driving the penta arm rod to rotate around the third joint is fixedly arranged in the end, close to the tetraxial arm rod, of the penta arm rod.

Further, a fourth motor for driving the second arm rod to rotate around the first rotating shaft is fixedly arranged in the first arm rod, and a fifth motor for driving the fourth arm rod to rotate around the second rotating shaft is fixedly arranged in the third arm rod.

(III) beneficial effects

Compared with the prior art, the invention has the beneficial effects that:

1. the first rotary clamping reinforcing component, the second rotary clamping reinforcing component and the third rotary clamping reinforcing component are matched with each other, so that the overall structural strength of the mechanical arm can be greatly enhanced, and the mechanical arm can bear heavier workpiece article picking and placing operations;

2. the two mechanical arms can realize the elastic clamping of the workpiece through the elastic clamping plate structure, wherein the claw can realize the clamping and the taking of small articles, and the elastic clamping plate structure can simulate two arms of a human body to hold and take the articles of the workpiece under the cooperation of the two mechanical arms.

Drawings

In order to more clearly illustrate the embodiments of the invention or the technical solutions in the prior art, the drawings that are required in the embodiments or the description of the prior art will be briefly described, it being obvious that the drawings in the following description are only some embodiments of the invention, and that other drawings may be obtained according to these drawings without inventive effort for a person skilled in the art.

FIG. 1 is a schematic diagram of the front view of the present invention;

FIG. 2 is a schematic view of the cross-sectional structure of FIG. 1 A-A in accordance with the present invention;

FIG. 3 is a schematic view of the cross-sectional structure B-B of FIG. 1 according to the present invention;

FIG. 4 is a schematic view of the present invention in a partially enlarged configuration at E of FIG. 3;

FIG. 5 is a schematic view of the cross-sectional structure of the C-C of FIG. 1 according to the present invention;

FIG. 6 is a schematic view of the structure of section D-D of FIG. 1 according to the present invention;

FIG. 7 is a schematic view of the present invention in a partially enlarged configuration at F of FIG. 6;

FIG. 8 is a schematic perspective view of the structure of FIG. 1 of the present invention;

fig. 9 is a schematic view of the use state structure of the present invention.

The reference numerals are explained as follows: 1. a shaft seat; 2. two shaft seats; 3. a triaxial arm lever; 3a, a first arm; 3b, a second arm lever; 4. a four-axis arm lever; 4a, a third arm lever; 4b, a fourth arm; 5. a claw; 6. a first rotationally chucking reinforcement assembly; 601. a first sliding table; 602. a first electric telescopic rod; 603. a first reinforcing rod; 604. a first engagement tooth; 605. a first clamping gear ring; 606. a first guide bar; 607. a first guide hole; 608. a first support collar; 609. a first guide shaft; 610. a first clamping block; 7. the second rotation clamping reinforcing component; 701. a second sliding table; 702. a second electric telescopic rod; 703. a second reinforcing rod; 704. a second meshing tooth; 705. a second clamping gear ring; 706. the second guide chute; 707. a second clamping block; 708. a second support collar; 709. a second guide shaft; 710. a second connecting guide hole; 711. a second clamping groove; 8. a third rotationally clamping the reinforcement assembly; 801. a third sliding table; 802. a third electric telescopic rod; 803. a third reinforcing rod; 804. a third meshing tooth; 805. a third clamping gear ring; 806. a third guide chute; 807. a third guide bar; 808. a guide cylinder; 809. a clamping column; 810. a clamping hole; 9. a first joint; 10. a second joint; 11. a third joint; 12. a first rotation shaft; 13. a second rotation shaft; 14. an elastic clamping plate structure; 14a, a telescopic cavity; 14b, a separator; 14c, a telescopic sliding block; 14d, clamping plates; 14e, springs; 15. a first motor; 16. a second motor; 17. a third motor; 18. a fourth motor; 19. a fifth motor; 20. five-axis arm lever.

Detailed Description

For the purpose of the present invention; the technical scheme and advantages are more clear, and the technical scheme of the invention will be described in detail below. It will be apparent that the described embodiments are only some, but not all, embodiments of the invention. All other embodiments, based on the examples herein, which are within the scope of the invention as defined by the claims, will be within the scope of the invention as defined by the claims.

Referring to fig. 1-9, the invention provides a six-degree-of-freedom articulated mechanical arm, which comprises a first shaft seat 1, a second shaft seat 2, a three-shaft arm rod 3, a four-shaft arm rod 4, a five-shaft arm rod 20 and a claw hand 5 which are sequentially connected, wherein a first joint 9 is arranged between the second shaft seat 2 and the three-shaft arm rod 3, a second joint 10 is arranged between the three-shaft arm rod 3 and the four-shaft arm rod 4, a third joint 11 is arranged between the four-shaft arm rod 4 and the five-shaft arm rod 20, and elastic clamping plate structures 14 are arranged on two sides of the five-shaft arm rod 20;

the triaxial arm lever 3 includes a first arm lever 3a and a second arm lever 3b, and the first arm lever 3a and the second arm lever 3b are axially aligned and rotatably connected to each other by a first rotation shaft 12; the four-axis arm lever 4 includes a third arm lever 4a and a fourth arm lever 4b, and the axial directions before the third arm lever 4a and the fourth arm lever 4b are identical and are rotatably connected to each other by a second rotation shaft 13; the triaxial arm lever 3 is provided with a first rotation clamping reinforcing component 6 for reinforcing the first joint 9 and the first rotation shaft 12; the four-axis arm lever 4 is provided with a second rotation clamping and reinforcing assembly 7 for reinforcing the second joint 10 and the second rotation shaft 13; the five-axis arm lever 20 is provided with a third rotation clamping and reinforcing assembly 8 for reinforcing the third joint 11 and the claw hand 5.

Referring to fig. 2 of the specification, the first rotating clamping reinforcing component 6 includes first guiding sliding grooves formed in two side walls of the first arm rod 3a, first sliding tables 601 are respectively and slidably arranged in the two first guiding sliding grooves, first electric telescopic rods 602 for adjusting the distance between the two first sliding tables 601 are arranged between the two first sliding tables 601, the first electric telescopic rods 602 are fixedly arranged in the first arm rod 3a, one ends of the two first sliding tables 601 close to the first joints 9 are respectively and fixedly connected with a first reinforcing rod 603, one ends of the first reinforcing rods 603 close to one side of the first arm rod 3a, which are fixedly connected with one ends of first guiding rods 606, are respectively and slidably connected to first guiding holes 607 formed in corresponding positions of the first arm rod 3a, first engaging teeth 604 are fixedly arranged on the outer side walls of the two first sliding tables 2 close to the first joints 9, one ends of the first reinforcing rods 603 close to the first clamping teeth 605 are fixedly arranged on first engaging teeth 604 in telescopic fit with the first clamping teeth 605, one ends of the first electric rods 602 are respectively, one ends of the two first sliding tables 601 are driven by the two first electric rods 601 to be close to the first clamping teeth 605, and the first rotating shafts are respectively and are fixedly engaged with one ends of the first rotating shafts 610, which are respectively and are close to the first rotating shafts 12.

The first arm lever 3a is close to the outside of one end of the first rotation shaft 12 and fixedly provided with a first support collar 608, one side of the first support collar 608 close to the first clamping block 610 is fixedly connected with a first guide shaft 609, a first connecting guide hole matched with the first guide shaft 609 for guiding and sliding is formed in the first clamping block 610, a first annular clamping groove is formed in the outside of the first rotation shaft 12, the cross section of the first clamping groove is of a V shape, and the first clamping block 610 and the first clamping groove are meshed with each other when the first electric telescopic rod 602 drives the two first sliding tables 601 to be close to the nearest distance.

Referring to fig. 3 of the present disclosure, the second rotating clamping reinforcement assembly 7 includes a second guiding chute 706 formed on two side walls of the third arm rod 4a, second sliding tables 701 are respectively slidably disposed in the two second guiding chute 706, a second electric telescopic rod 702 for adjusting a distance between the two second sliding tables 701 is disposed between the two second sliding tables 701, the second electric telescopic rod 702 is fixedly disposed in the third arm rod 4a, one ends of the two second sliding tables 701, which are close to the second joint 10, are respectively and fixedly connected with a second reinforcement rod 703, one end of the second arm rod 3b, which is close to the outer side wall of the second joint 10, is fixedly provided with a second clamping gear ring 705, one end of the second reinforcement rod 703, which is close to the second clamping gear ring 705, is fixedly provided with second engaging teeth 704 engaged with the second clamping gear ring 705, the second engaging teeth 704 and the second clamping gear ring 705 are engaged with each other when the second electric telescopic rod 702 drives the two second sliding tables 701 to be close to the closest distance, and one ends of the two second sliding tables 701, which are close to the second rotating shaft 13, are respectively and fixedly connected with a second clamping block 707.

The outer side of one end of the third arm lever 4a, which is close to the second rotating shaft 13, is fixedly provided with a second supporting collar 708, one side, which is close to the second clamping block 707, of the second supporting collar 708 is fixedly connected with a second guide shaft 709, a second connecting guide hole 710 which is matched with the second guide shaft 709 to guide and slide is formed in the second clamping block 707, a second clamping groove 711 which is annular is formed in the outer side of the second rotating shaft 13, the cross section of the second clamping groove 711 is of a V shape, and the second clamping block 707 and the second clamping groove 711 are meshed with each other when the second electric telescopic rod 702 drives the two second sliding tables 701 to be close to the nearest distance.

Referring to fig. 5 of the specification, the third fastening assembly 8 includes third guide sliding grooves 806 formed on two side walls of the five-axis arm rod 20, third sliding tables 801 are respectively slidably disposed in the two third guide sliding grooves 806, a third electric telescopic rod 802 for adjusting a distance between the two third sliding tables 801 is disposed between the two third sliding tables 801, the third electric telescopic rod 802 is fixedly disposed in the five-axis arm rod 20, one ends of the two third sliding tables 801 close to the third joint 11 are respectively and fixedly connected with a third fastening rod 803, a third clamping tooth ring 805 is fixedly disposed on an outer side wall of the fourth arm rod 4b close to the third joint 11, one ends of the third fastening rod 803 close to the third clamping tooth ring 805 are respectively and fixedly provided with third engaging teeth 804 engaged with the third clamping tooth ring 805, one ends of the two third sliding tables 801 close to each other are respectively and fixedly connected with one ends of the more than two third guide rods 807, the other ends of the third guide rods 807 are slidably connected into guide cylinders 808 fixedly disposed in the five-axis arm rod 20, two ends of the third electric telescopic rod 802 are respectively and fixedly connected with third clamping teeth 805, one ends of the third clamping teeth 809 close to the two ends of the third clamping tooth rings 805 are respectively close to the third clamping tooth rings 805, and a plurality of the outer ends of the clamping claws 809 are respectively and fixedly engaged with one ends of the third clamping claws 809 close to the outer ends of the third clamping claw bars 5 and the outer ends of the clamping claw shafts 805.

Referring to fig. 6 and 7 of the specification, the elastic clamping plate structure 14 includes a telescopic cavity 14a penetrating through a five-axis arm rod 20, a partition plate 14b is fixedly arranged in the middle position of the telescopic cavity 14a, telescopic sliding blocks 14c are slidably arranged at two end openings of the telescopic cavity 14a, clamping plates 14d are fixedly arranged at one ends, far away from each other, of the two telescopic sliding blocks 14c, and a spring 14e is fixedly connected between the end of each telescopic sliding block 14c and the partition plate 14 b. Through the above specific structural design, the clamping plate 14d can realize elastic clamping of the workpiece object through the spring 14e in the object clamping process, so that clamping damage to fragile objects can be avoided.

The first motor 15 for driving the triaxial arm rod 3 to rotate around the first joint 9 is fixedly arranged inside one end, close to the biaxial seat 2, of the first arm rod 3a, the second motor 16 for driving the tetraxial arm rod 4 to rotate around the second joint 10 is fixedly arranged inside one end, close to the triaxial arm rod 3, of the third arm rod 4a, and the third motor 17 for driving the pentaaxial arm rod 20 to rotate around the third joint 11 is fixedly arranged inside one end, close to the tetraxial arm rod 4, of the pentaaxial arm rod 20.

The first arm 3a is internally and fixedly provided with a fourth motor 18 for driving the second arm 3b to rotate about the first rotation axis 12, and the third arm 4a is internally and fixedly provided with a fifth motor 19 for driving the fourth arm 4b to rotate about the second rotation axis 13.

Working principle:

when the mechanical arm is used, the sixth motor for driving the two-shaft seat 2 to rotate is fixedly arranged in the one-shaft seat 1, so that the two-shaft seat 2 can be driven to rotate, after the two-shaft seat 2, the three-shaft arm rod 3, the four-shaft arm rod 4 and the five-shaft arm rod 20 rotate, the first rotary clamping reinforcing component 6, the second rotary clamping reinforcing component 7, the third rotary clamping reinforcing component 8 and the like are matched, so that after the mechanical arm rotates, the mechanical arm can be subjected to reinforcing connection at the hinged position at a certain position, and the overall structural strength of the mechanical arm is improved;

and when two mechanical arms are arranged on two sides of the robot, as shown in an attached drawing 9 of the specification, the two mechanical arms can realize elastic clamping of a workpiece through an elastic clamping plate structure 14, wherein the claw hand 5 can realize clamping and taking of small articles, and the elastic clamping plate structure 14 can simulate two arms of a human body to hold and take the articles of the workpiece under the cooperation of the two mechanical arms.

The foregoing is merely illustrative of the present invention, and the present invention is not limited thereto, and any person skilled in the art will readily recognize that variations or substitutions are within the scope of the present invention. Therefore, the protection scope of the present invention shall be subject to the protection scope of the claims.

Claims

1. The utility model provides a six degree of freedom joint type arm which characterized in that: the novel mechanical arm comprises a first shaft seat (1), a second shaft seat (2), a triaxial arm rod (3), a tetraxial arm rod (4), a five-axis arm rod (20) and a claw hand (5) which are sequentially connected, wherein a first joint (9) is arranged between the second shaft seat (2) and the triaxial arm rod (3), a second joint (10) is arranged between the triaxial arm rod (3) and the tetraxial arm rod (4), a third joint (11) is arranged between the tetraxial arm rod (4) and the five-axis arm rod (20), and elastic clamping plate structures (14) are arranged on two sides of the five-axis arm rod (20);

the triaxial arm lever (3) comprises a first arm lever (3 a) and a second arm lever (3 b), and the axial directions of the first arm lever (3 a) and the second arm lever (3 b) are consistent and are in rotary connection with each other through a first rotary shaft (12);

the four-axis arm lever (4) comprises a third arm lever (4 a) and a fourth arm lever (4 b), wherein the axial directions of the third arm lever (4 a) and the fourth arm lever (4 b) are consistent before each other and are connected with each other in a rotating way through a second rotating shaft (13);

the triaxial arm lever (3) is provided with a first rotation clamping reinforcing component (6) for reinforcing the first joint (9) and the first rotation shaft (12);

the four-axis arm rod (4) is provided with a second rotation clamping reinforcing component (7) for reinforcing the second joint (10) and the second rotation shaft (13);

the five-axis arm lever (20) is provided with a third rotary clamping reinforcing component (8) for reinforcing a third joint (11) and a claw (5);

the first rotary clamping reinforcing component (6) comprises first guide sliding grooves formed in two side walls of a first arm rod (3 a), first sliding tables (601) are respectively arranged in the two first guide sliding grooves in a sliding mode, first electric telescopic rods (602) used for adjusting the distance between the two first sliding tables (601) are arranged between the two first sliding tables, the first electric telescopic rods (602) are fixedly arranged in the first arm rod (3 a), one ends of the two first sliding tables (601) close to the first joints (9) are fixedly connected with first reinforcing rods (603) respectively, one ends of the first reinforcing rods (603) close to the first arm rod (3 a) are fixedly connected with one ends of first guide rods (606), the other ends of the first guide rods (606) are connected into first guide holes (607) formed in corresponding positions of the first arm rods (3 a) in a sliding mode, first clamping gear rings (605) are fixedly arranged on the outer side walls of the second shaft seats (2) close to the first joints (9), the first clamping gears (605) are fixedly connected with one ends of the first reinforcing rods (603) close to the first joints (605), the first clamping gears (605) are meshed with the first gear rings (605) in a meshed mode, and the first clamping gears (605) are meshed with the first gears (604) in a meshed mode, one end, close to the first rotating shaft (12), of each first sliding table (601) is fixedly connected with a first clamping block (610) respectively;

the one end outside that first armed lever (3 a) is close to first rotation axis (12) is fixed and is provided with first support lantern ring (608), and one side that first support lantern ring (608) is close to first chucking piece (610) fixedly connected with first guiding axle (609), offer on first chucking piece (610) with first guiding axle (609) cooperation direction gliding first connecting guide hole, the outside of first rotation axis (12) has been offered and has been the first draw-in groove of ring form, and the cross section shape of first draw-in groove is the V type, is close to under the closest distance at two first slip tables (601) of first electric telescopic handle (602) drive, first chucking piece (610) and first draw-in groove mesh each other.

2. The six degree of freedom articulated arm of claim 1 wherein: the second rotary clamping reinforcing component (7) comprises second guide sliding grooves (706) formed in two side walls of a third arm rod (4 a), second sliding tables (701) are respectively arranged in the two second guide sliding grooves (706) in a sliding mode, second electric telescopic rods (702) used for adjusting the distance between the two second sliding tables (701) are arranged between the two second sliding tables (701), the second electric telescopic rods (702) are fixedly arranged in the third arm rod (4 a), second reinforcing rods (703) are fixedly connected to one ends, close to the second joints (10), of the two second sliding tables (701), second clamping gear rings (705) are fixedly arranged on the outer side walls, close to the second joints (10), of the second arm rod (3 b), second meshing teeth (704) meshed with the second clamping gear rings (705) are fixedly arranged at one ends, close to the second clamping gear rings (705), of the second clamping gear rings (704) are fixedly connected to one another, and second rotating shafts (707) are fixedly meshed with the second clamping gear rings (704) at one ends, close to the second clamping gear rings (704), of the second clamping gear rings (704) in a mode.

3. The six degree of freedom articulated arm of claim 2 wherein: the one end outside that third armed lever (4 a) is close to second rotation axis (13) is fixed and is provided with second support lantern ring (708), and one side that second support lantern ring (708) is close to second chucking piece (707) is fixedly connected with second guiding axle (709), offer on second chucking piece (707) with second guiding axle (709) cooperation direction gliding second connection guide hole (710), second draw-in groove (711) that are ring form are offered in the outside of second rotation axis (13), and the cross section shape of second draw-in groove (711) is the V type, is close to under the closest distance in two second slip tables (701) of second electric telescopic handle (702) drive, second chucking piece (707) and second draw-in groove (711) mesh each other.

4. The six degree of freedom articulated arm of claim 1 wherein: the third rotary clamping reinforcing component (8) comprises third guide sliding grooves (806) formed in two side walls of the five-axis arm rod (20), third sliding tables (801) are respectively arranged in the two third guide sliding grooves (806) in a sliding mode, third electric telescopic rods (802) used for adjusting the distance between the two third sliding tables (801) are arranged between the two third sliding tables (801), the third electric telescopic rods (802) are fixedly arranged in the five-axis arm rod (20), one ends, close to the third joints (11), of the two third sliding tables (801) are respectively fixedly connected with a third reinforcing rod (803), a third clamping gear ring (805) is fixedly arranged on the outer side wall, close to the third joints (11), of the fourth arm rod (4 b), one end of the third reinforcing rod (803) close to the third clamping gear ring (805) is fixedly provided with a third meshing gear (804) which is matched and meshed with the third clamping gear ring (805), one side of the two third sliding tables (801) close to each other is fixedly connected with more than two third guide rods (807), the other end of each third guide rod (807) is slidingly connected into a guide cylinder (808) fixedly arranged in the five-axis arm rod (20), the third electric telescopic rod (802) drives the two third sliding tables (801) to be close to the nearest distance, the third meshing gear (804) and the third clamping gear ring (805) are meshed with each other, one end of each of the two third sliding tables (801) close to the claw hand (5) is fixedly connected with a plurality of clamping columns (809), and clamping holes (810) matched with the clamping columns (809) are formed in the outer side wall of one end of the five-axis arm rod (20) close to the claw hand (5).

5. The six degree of freedom articulated arm of claim 1 wherein: the elastic clamping plate structure (14) comprises a telescopic cavity (14 a) which is formed in the five-axis arm rod (20) in a penetrating mode, a partition plate (14 b) is fixedly arranged in the middle position of the telescopic cavity (14 a), telescopic sliding blocks (14 c) are slidably arranged at openings of two ends of the telescopic cavity (14 a), clamping plates (14 d) are fixedly arranged at one ends, away from each other, of the two telescopic sliding blocks (14 c), and springs (14 e) are fixedly connected between the end portions of each telescopic sliding block (14 c) and the partition plate (14 b).

6. The six degree of freedom articulated arm of claim 1 wherein: the novel three-axis arm is characterized in that a first motor (15) for driving the three-axis arm (3) to rotate around a first joint (9) is fixedly arranged inside one end of the first arm (3 a) close to the two-axis seat (2), a second motor (16) for driving the four-axis arm (4) to rotate around a second joint (10) is fixedly arranged inside one end of the third arm (4 a) close to the three-axis arm (3), and a third motor (17) for driving the five-axis arm (20) to rotate around a third joint (11) is fixedly arranged inside one end of the five-axis arm (20) close to the four-axis arm (4).

7. The six degree of freedom articulated arm of claim 1 wherein: the first arm rod (3 a) is internally fixedly provided with a fourth motor (18) for driving the second arm rod (3 b) to rotate around the first rotary shaft (12), and the third arm rod (4 a) is internally fixedly provided with a fifth motor (19) for driving the fourth arm rod (4 b) to rotate around the second rotary shaft (13).