CN206677963U - Cooperating type mechanical arm - Google Patents

Abstract

The utility model discloses a kind of cooperating type mechanical arm, including fuselage and the first arm and the second arm that are located on fuselage, the fuselage are set perpendicular to horizontal plane, and first arm and the second arm are set and in the same plane parallel to horizontal plane；First arm and the second arm configuration are identical and include large arm and forearm, and one end of the large arm is rotationally connected with fuselage by rotating shaft I, the other end is rotationally connected with forearm by rotating shaft II, and the end of the forearm is provided with the clamping device for being used for clamping angle grinder；The rotating shaft I, which sets perpendicular to horizontal plane and driven by drive device I, drives large arm rotation, and the rotating shaft II, which sets perpendicular to horizontal plane and driven by drive device II, drives forearm rotation；The utility model can replace manually carrying out derusting operation, reduce the flue dust injury that manual polishing thresher belt comes, improve safety guarantee, raising rust cleaning efficiency.

Description

Cooperating type mechanical arm

Technical field

A kind of mechanical arm is the utility model is related to, more particularly to a kind of cooperating type mechanical arm.

Background technology

Mechanical arm is the technique device for reproducing human arm function, and mechanical arm imitates the partial act of human hand, Crawl is realized by preset sequence, track and requirement, carries or operates.The steel amount lost every year by corrosion account for the world then Sizable ratio of output of steel, therefore by steel rust removing to improve its utilization rate just into essential measure；Typically Compared with frequently be hand cleaning, i.e., either manually or by toolrust-removals such as angle grinders, but harmful powder can be produced in descaling process Dirt, the working condition residing for labor author is severe, and the cycle length that derusts, effect are poor.Therefore, if replacing people by mechanical arm Work carries out derusting operation, just can liberate manpower, reduces the flue dust injury that manual polishing thresher belt comes, improves safety guarantee, improve Rust cleaning efficiency.

Utility model content

In view of this, the purpose of this utility model is to provide a kind of cooperating type mechanical arm, instead of manually being derusted Operation, the flue dust injury that manual polishing thresher belt comes is reduced, safety guarantee is improved, improves rust cleaning efficiency.

Cooperating type mechanical arm of the present utility model, including fuselage and the first arm and the second arm that are located on fuselage, it is described Fuselage perpendicular to horizontal plane set, first arm and the second arm parallel to horizontal plane set and it is in the same plane；It is described First arm and the second arm configuration are identical and include large arm and forearm, and one end of the large arm is rotationally connected with machine by rotating shaft I Body, the other end are rotationally connected with forearm by rotating shaft II, and the end of the forearm is provided with the clamping device for being used for clamping angle grinder； The rotating shaft I, which sets perpendicular to horizontal plane and driven by drive device I, drives large arm rotation, and the rotating shaft II is perpendicular to horizontal plane Set and driven by drive device II and drive forearm rotation.

Further, the drive device I includes motor I and for connecting motor I and rotating shaft I with passing power Transmission mechanism I；The transmission mechanism I includes power transmission shaft I, driving gear I and driven gear I, and the power transmission shaft I passes through shaft coupling Device I is connected with the output shaft of motor I, and the fixed cover of driving gear I is on power transmission shaft I, the fixed cover of driven gear I In rotating shaft I, the driving gear I and the engaged transmission of driven gear I.

Further, the installation casing I to be formed for installing drive device I and rotating shaft I is integrally formed on the fuselage；It is described Transmission mechanism I also includes two respectively from the spring bearing I of upper and lower supported on both sides power transmission shaft I, and the installation casing I, which is provided with, to be used In the bearing fixed seat I of fixed spring bearing I；The rotating shaft I is arranged with the branch that two difference descend both sides to form support from it Bearing III is supportted, the installation casing I is provided with the bearing fixed seat III for being used for fixing spring bearing III；The power transmission shaft I is with turning Axle I be arranged in parallel.

Further, the large arm includes the big arm body that longitudinal section is in I-shaped, and the big arm body is close to fuselage One end is provided with axis hole I, and the rotating shaft I realizes transmission through axis hole I and by driving key I.

Further, the drive device II includes motor II and for connecting motor II and rotating shaft II with transmission The transmission mechanism II of power；The transmission mechanism II includes power transmission shaft II, driving gear II and driven gear II, the power transmission shaft II is connected by shaft coupling II with the output shaft of motor II, and the fixed cover of driving gear II is described on power transmission shaft II The fixed cover of driven gear II is in rotating shaft II, the driving gear II and the engaged transmission of driven gear II.

Further, the described one end of big arm body away from fuselage is integrally formed to be formed for installing drive device II and rotating shaft II installation casing II；The transmission mechanism II also includes two respectively from the spring bearing of upper and lower supported on both sides power transmission shaft II II, the installation casing II is provided with the bearing fixed seat II for being used for fixing spring bearing II；The rotating shaft II is arranged with two Difference descends both sides to form the spring bearing IV of support from it, and the installation casing II, which is provided with, to be used to fix spring bearing IV Bearing fixed seat IV；The power transmission shaft II be arranged in parallel with rotating shaft II.

Further, the forearm includes the small arm body that longitudinal section is in I-shaped, and the small arm body is close to large arm One end is provided with axis hole II, and the rotating shaft II realizes transmission through axis hole II and by driving key II.

Further, the cooperating type mechanical arm also includes cylinder I；The described one end of small arm body away from large arm, which is provided with, to be used for The mounting seat of cylinder I is installed, the cylinder I includes the piston I that cylinder body I is located in cylinder body I and the piston rod I coordinated with piston I, The piston rod I can move back and forth along the direction perpendicular to horizontal plane, and the piston rod I stretch out cylinder body I one end with it is described Clamping device is connected.

Further, the clamping device includes cylinder II, drive block, sliding refers to and expansion sleeve；The cylinder II includes upper Cylinder body II, lower cylinder body II, piston II and the piston rod II coordinated with piston II, the upper cylinder body II are fixedly connected with lower cylinder body II And the accommodating chamber for accommodating piston II is formed between upper cylinder body II and lower cylinder body II, the upper cylinder body II is fixed with piston rod I to be connected Connect；The bottom of the lower cylinder body II extends to form driving cylinder down, and the hollow formation of driving cylinder drives passage and drive block is located at drive In dynamic passage, the piston rod II extends driving passage and can reciprocatingly slided along driving passage, the piston rod II and drive block It is connected；The barrel of the driving cylinder is provided with radial direction through hole, and the sliding, which refers to, to be located in radial direction through hole, and the radial direction through hole and cunning Moving to be provided between referring to hinders sliding to refer to the elastic component passed from radial direction through hole；The drive block is provided with up big and down small cone portion, The sliding, which refers to, can be in contact with cone portion towards the end face of driving passage and be driven by cone portion and stretch out radial direction through hole；It is described Expansion sleeve is enclosed on outside driving cylinder and the outside distending under the radial pressure that sliding refers to.

Further, the cooperating type mechanical arm also includes a control system, and the control system includes being used to handle control Controller, the wireless communicator for radio communication and for each consuming parts provide electric power power supply, the controller Be connected by wireless communicator with exterior terminal, the signal output part of the controller respectively with motor I, motor IIth, the signal input part of cylinder I and cylinder II is connected.

The beneficial effects of the utility model：Cooperating type mechanical arm of the present utility model, by rotating shaft I, large arm can be one The reciprocating rotation of certain amplitude is done in plane, by rotating shaft II, forearm can do the reciprocating rotation of amplitude, large arm in unified plane Cooperation with forearm causes angle grinder to do the movement of certain rule, and the effect end of angle grinder contacts and past strike-on with steel surface Grind and realize derusting, so as to replace manually carrying out derusting operation, reduce the flue dust injury that manual polishing thresher belt comes, improve Safety guarantee, improve rust cleaning efficiency.

Brief description of the drawings

The utility model is further described with reference to the accompanying drawings and examples：

Fig. 1 is front view of the present utility model；

Fig. 2 is top view of the present utility model；

Fig. 3 is enlarged drawing at A in Fig. 1；

Fig. 4 is enlarged drawing at B in Fig. 1；

Fig. 5 is enlarged drawing at C in Fig. 1；

Fig. 6 is D-D sectional views in Fig. 1；

Fig. 7 is E-E sectional views in Fig. 1；

Fig. 8 is the theory diagram of control system of the present utility model.

Embodiment

As shown in Figures 1 to 8：The cooperating type mechanical arm of the present embodiment, including fuselage 1 and set on the fuselage 1 first Arm and the second arm (concrete structure of the second arm only being shown in figure, display is then omitted for the first arm), the fuselage 1 is perpendicular to water Plane set, first arm and the second arm parallel to horizontal plane set and it is in the same plane；First arm and second Arm configuration is identical and includes large arm 21 and forearm 22, and one end of the large arm 21 is rotationally connected with fuselage 1, another by rotating shaft I 3 One end is rotationally connected with forearm 22 by rotating shaft II 4, and the end of the forearm 22 is provided with the clamping device for being used for clamping angle grinder； The rotating shaft I 3, which sets perpendicular to horizontal plane and driven by drive device I, drives large arm 21 to rotate, and the rotating shaft II 4 is perpendicular to water Plane, which sets and driven by drive device II, drives forearm 22 to rotate；Fuselage 1 can stand in ground or work by a base 1a On platform；First arm may be provided in the left side of fuselage 1, and the second arm is then located at the right side of fuselage 1, form arm structure, have and human body Both arms similar harmony and stationarity；First arm and the second arm have identical structure, can one angle grinder of compounding practice or Person operates two angle grinders or operates angle grinder and Flushing nozzle respectively respectively；Large arm 21 is equivalent to the postbrachium of human body, forearm 22 equivalent to human body forearm, rotating shaft I 3 is equivalent to the shoulder joint that postbrachium is connected with shoulder, and rotating shaft II 4 is equivalent to postbrachium and forearm Connected elbow joint；Large arm 21 and the length of forearm 22 can be set as needed；Drive device I, drive device II are to provide The motor drive mechanism of rotational power；Clamping device is suitable to grip angle grinder；By rotating shaft I 3, large arm 21 can be done in a plane The reciprocating rotation of certain amplitude, by rotating shaft II 4, forearm 22 can do the reciprocating rotation of amplitude in unified plane, large arm 21 with The cooperation of forearm 22 causes angle grinder to do the movement of certain rule, and the effect end of angle grinder contacts with steel (such as iron sheet) surface And back and forth polish and realize derusting, so as to replace manually carrying out derusting operation, reduce the flue dust wound that manual polishing thresher belt comes Evil, improves safety guarantee, improves rust cleaning efficiency.

In the present embodiment, the drive device I includes motor I 51 and for connecting motor I 51 and rotating shaft I 3 With the transmission mechanism I of passing power；The transmission mechanism I includes power transmission shaft I 52, driving gear I 53 and driven gear I 54, institute State power transmission shaft I 52 by shaft coupling I 55 with the output shaft of motor I 51 to be connected, the fixed cover of driving gear I 53 is being driven On axle I 52, the fixed cover of driven gear I 54 is in rotating shaft I 3, the driving gear I 53 and the engaged transmission of driven gear I 54； Motor I 51 can be stepping motor structure；Transmission mechanism I has decelerating effect, can increase driving moment, has rotating shaft I 3 There are enough torques；The gearratio of transmission mechanism I then determines by the gear ratio of driving gear I 53 and driven gear I 54, can basis Need and set, be not limited herein；Shaft coupling I 55 is telescoping structure, is easily installed fixation；This is rational in infrastructure, Neng Gouyou Effect driving large arm 21 rotates.

In the present embodiment, the installation casing to be formed for installing drive device I and rotating shaft I 3 is integrally formed on the fuselage 1 Ⅰ6；The transmission mechanism I also includes two respectively from the spring bearing I 56 of upper and lower supported on both sides power transmission shaft I 52, the installs case Body I 6 is provided with the bearing fixed seat I 61 for being used for fixing spring bearing I 56；Under the rotating shaft I 3 is arranged with two difference from it Both sides form the spring bearing III 31 of support, and the installation casing I 6 is provided with the bearing for being used to fix spring bearing III 31 and fixed Seat III 62；The power transmission shaft I 52 be arranged in parallel with rotating shaft I 3；Installation casing I 6 has the 6a of cover plate I being adapted to therewith, motor I 51 can be fixed on the 6a of cover plate I；Spring bearing I 56 can be cylinder roller bearing, and spring bearing III 31 can be taper roller axle Hold, there is good supportive；Power transmission shaft I 52 be arranged in parallel with rotating shaft I 3, improves the smoothness and transmission efficiency of transmission；Peace Vanning body I 6 is integrally formed with fuselage 1, improves the structural strength of mechanical arm, while be easy to machine-shaping.

In the present embodiment, the large arm 21 includes the big arm body 21a that longitudinal section is in I-shaped, the big arm body 21a is provided with the 21b of axis hole I close to one end of fuselage 1, and the rotating shaft I 3 realizes transmission through the 21b of axis hole I and by driving key I 32； Big arm body 21a is in I-shaped, can maintain higher structural strength while mitigating and conducting oneself with dignity；Two axles of installation casing I 6 Hold and be provided with deep gouge I 63 between fixed seat III 62, big arm body 21a is inserted in deep gouge I 63, and rotating shaft I 3 is worn simultaneously through deep gouge I 63 The 21b of axis hole I is crossed, realizes the transmission of power between rotating shaft I 3 and large arm 21 by driving key I 32.

In the present embodiment, the drive device II includes motor II 71 and for connecting motor II 71 and rotating shaft II 4 with the transmission mechanism II of passing power；The transmission mechanism II includes power transmission shaft II 72, driving gear II 73 and driven gear II 74, the power transmission shaft II 72 is connected by shaft coupling II 75 with the output shaft of motor II 71, the driving gear II 73 Fixed cover on power transmission shaft II 72, the fixed cover of driven gear II 74 in rotating shaft II 4, the driving gear II 73 with it is driven The engaged transmission of gear II 74；Motor II 71 can be stepping motor structure；Transmission mechanism II has decelerating effect, can increase Driving moment, make rotating shaft II 4 that there is enough torques；The gearratio of transmission mechanism II is then by driving gear II 73 and driven gear II 74 gear ratio determines, can be set as desired, not be limited herein；Shaft coupling II 75 is telescoping structure, is easy to pacify Dress is fixed；This is rational in infrastructure, can effectively drive forearm 22 to rotate.

In the present embodiment, the described big one end of arm body 21a away from fuselage 1 is integrally formed to be formed for installing drive device II and the installation casing II 8 of rotating shaft II 4；The transmission mechanism II also includes two respectively from upper and lower supported on both sides power transmission shaft II 72 Spring bearing II 76, the installation casing II 8, which is provided with, to be used to fix the bearing fixed seat II 81 of spring bearing II 76；It is described Rotating shaft II 4 is arranged with the spring bearing IV 41 that two difference descend both sides to form support from it, and the installation casing II 8 is provided with For fixing the bearing fixed seat IV 82 of spring bearing IV 41；The power transmission shaft II 72 be arranged in parallel with rotating shaft II 4；Installation casing II 8 have the 8a of cover plate II being adapted to therewith, and motor II 71 can be fixed on the 8a of cover plate II；Spring bearing II 76 can be cylinder Roller bearing, spring bearing IV 41 can be taper roll bearing, have good supportive；Power transmission shaft II 72 and rotating shaft II 4 are flat Row is set, and improves the smoothness and transmission efficiency of transmission；Installation casing II 8 is integrally formed with big arm body 21a, improves machine The structural strength of tool arm, while it is easy to machine-shaping.

In the present embodiment, the forearm 22 includes the small arm body 22a that longitudinal section is in I-shaped, the small arm body 22a is provided with the 22b of axis hole II close to one end of large arm 21, and the rotating shaft II 4 is realized through the 22b of axis hole II and by driving key II 42 Transmission；Small arm body 22a is in I-shaped, can maintain higher structural strength while mitigating and conducting oneself with dignity；Installation casing II 8 Two bearings fixed seat IV between be provided with deep gouge II 83, small arm body 22a is inserted in deep gouge II 83, and rotating shaft II 4 passes through deep gouge II 83, also cross the 22b of axis hole II, realize the transmission of power by driving key II 42 between rotating shaft II 4 and forearm 22.

In the present embodiment, the cooperating type mechanical arm also includes cylinder I 9；The small arm body 22a away from large arm 21 one End is provided with the mounting seat 23 for being used for installing cylinder I 9, and the cylinder I 9 includes the He of piston I 92 that cylinder body I 91 is located in cylinder body I 91 The piston rod I 93 coordinated with piston I 92, the piston rod I 93 can move back and forth along the direction perpendicular to horizontal plane, and the work One end that stopper rod I 93 stretches out cylinder body I 91 is connected with the clamping device；Cylinder I 9 can be Pneumatic driving type structure；Mounting seat 23 It can be the punched-type structure that can firmly clamp cylinder body I 91；The vertically reciprocating movement of clamping device is driven by piston rod I 93, can The vertical height of clamping device is adjusted, so as to control the height of angle grinder, in order to sanding operation, while improves its adaptability.

In the present embodiment, the clamping device refers to 11 and expansion sleeve 12 including cylinder II 13, drive block 10, sliding；It is described Cylinder II 13 includes upper cylinder body II 131, lower cylinder body II 132, piston II 133 and the piston rod II 134 coordinated with piston II 133, The upper cylinder body II 131 is fixedly connected with lower cylinder body II 132 and formed between upper cylinder body II 131 and lower cylinder body II 132 and accommodated The accommodating chamber 13a of piston II 133, the upper cylinder body II 131 are fixedly connected with piston rod I 93；The bottom of the lower cylinder body II 132 Extension down forms driving cylinder 14, drives the hollow formation driving passage 141 of cylinder 14 and drive block 10 is located in driving passage 141, The piston rod II 134 extends driving passage 141 and can reciprocatingly slided along driving passage 141, the piston rod II 134 and driving Block 10 is connected；The barrel of the driving cylinder 14 is provided with radial direction through hole 142, and the sliding refers to 11 and is located in radial direction through hole 142, and institute Stating radial direction through hole 142 and sliding to refer to be provided between 11 hinders sliding to refer to 11 elastic components 15 passed from radial direction through hole 142；The drive Motion block 10 is provided with up big and down small cone portion 10a, and the sliding refers to 11 can be with cone portion 10a towards the end face of driving passage 141 It is in contact and is driven by cone portion 10a and stretch out radial direction through hole 142；The expansion sleeve 12 is enclosed on outside driving cylinder 14 and referred in sliding Outside distending under 11 radial pressure；Cylinder II 13 can be Pneumatic driving type structure；Expansion sleeve 12 for example can be with some axles To the resilient sleeve of bar shaped breach, when being acted on by radial pressure can outside distending, pressure restores after removing；Make Used time, expansion sleeve 12 can be penetrated in handle or the related duct of angle grinder, acted on by its distending mutually to be fixed with angle grinder (principle for being similar to expansion bolt)；The power resources of the distending of expansion sleeve 12 are easy to control in cylinder II 13；Sliding refers to 11 for example It is settable four, circumferentially it is evenly arranged；Elastic component 15 is preferably stage clip structure；Sliding refers to 11 can be " T " shape, radial direction through hole 142 have staircase structural model, are easy to the two mutually to fix.

In the present embodiment, the cooperating type mechanical arm also includes a control system, and the control system includes being used to handle The controller 16 of control, the wireless communicator 17 for radio communication and the power supply 18 for providing electric power to each consuming parts, The controller 16 is connected by wireless communicator 17 with exterior terminal, the signal output part of the controller 16 respectively with driving Motor I 51, motor II 71, the signal input part of cylinder I 9 and cylinder II 13 are connected；Controller 16 can be single-chip microcomputer；The control System processed coordinates with camera system can be achieved remote control, handling strong；Control system may also include related sensor, such as Detect large arm 21, forearm 22 rotational angle angular transducer and detection angle grinder residing for height height sensor, so as to In formation control strategy.

In the present embodiment, the realization of for the benefit of energy-conserving and environment-protective, power supply 18 can use too can electric power system, the system include too It is positive can photovoltaic module, MPPT controller, battery and inverter, the output end of solar photovoltaic assembly and MPPT controller it is defeated Enter end to be connected, the output end of MPPT controller is connected with the input of battery, the output end of battery and the input of inverter End is connected, and the output end of inverter is connected with the power input end of electricity getting device；Solar photovoltaic assembly, MPPT controller may be provided in Outdoor, it is connected by wire with other parts；Solar photovoltaic assembly can convert light energy into electrical energy for storage in electric power storage Chi Zhong, inverter is then transformed into caused direct current energy alternating current and exported to be used for consuming parts；Moreover, MPPT controller Maximum power point in photovoltaic array can be tracked, obtain the scheme of maximum power point, power supply 18 is exported all the time Peak power, so as to improve solar energy utilization ratio；Solar photovoltaic assembly includes battery assembly and the side for self-contained battery assembly Frame, battery assembly include preceding glass sheet, front adhesive film, cell piece, rear layer glued membrane and the back-panel glass set gradually from top to bottom； The preceding glass sheet and back-panel glass surrounding fixed seal connection, front adhesive film, cell piece and rear layer glued membrane are fixed on by foreboard In the sealing space that glass and back-panel glass are formed.

Finally illustrate, above example is only unrestricted to illustrate the technical solution of the utility model, although ginseng The utility model is described in detail according to preferred embodiment, it will be understood by those within the art that, can be to this The technical scheme of utility model is modified or equivalent substitution, without departing from the objective and model of technical solutions of the utility model Enclose, it all should cover among right of the present utility model.

Claims (10)

1. A kind of 1. cooperating type mechanical arm, it is characterised in that：It is described including fuselage and the first arm and the second arm that are located on fuselage Fuselage perpendicular to horizontal plane set, first arm and the second arm parallel to horizontal plane set and it is in the same plane；It is described First arm and the second arm configuration are identical and include large arm and forearm, and one end of the large arm is rotationally connected with machine by rotating shaft I Body, the other end are rotationally connected with forearm by rotating shaft II, and the end of the forearm is provided with the clamping device for being used for clamping angle grinder； The rotating shaft I, which sets perpendicular to horizontal plane and driven by drive device I, drives large arm rotation, and the rotating shaft II is perpendicular to horizontal plane Set and driven by drive device II and drive forearm rotation.
2. 2. cooperating type mechanical arm according to claim 1, it is characterised in that：The drive device I includes motor I And for connecting motor I and rotating shaft I with the transmission mechanism I of passing power；The transmission mechanism I includes power transmission shaft I, active Gear I and driven gear I, the power transmission shaft I are connected by shaft coupling I with the output shaft of motor I, the driving gear I Fixed cover is on power transmission shaft I, and for the fixed cover of driven gear I in rotating shaft I, the driving gear I engages biography with driven gear I It is dynamic.
3. 3. cooperating type mechanical arm according to claim 2, it is characterised in that：It is integrally formed to be formed on the fuselage and is used for Drive device I and the installation casing I of rotating shaft I are installed；The transmission mechanism I also includes two and is driven respectively from upper and lower supported on both sides The spring bearing I of axle I, the installation casing I are provided with the bearing fixed seat I for being used for fixing spring bearing I；I set of the rotating shaft Both sides are descended to form the spring bearing III of support from it provided with two difference, the installation casing I, which is provided with, is used for fixed support The bearing fixed seat III of bearing III；The power transmission shaft I be arranged in parallel with rotating shaft I.
4. 4. cooperating type mechanical arm according to claim 3, it is characterised in that：The large arm is in " work " word including longitudinal section The big arm body of shape, the big arm body are provided with axis hole I close to one end of fuselage, and the rotating shaft I is through axis hole I and passes through transmission Key I realizes transmission.
5. 5. cooperating type mechanical arm according to claim 4, it is characterised in that：The drive device II includes motor II and for connecting motor II and rotating shaft II with the transmission mechanism II of passing power；The transmission mechanism II includes power transmission shaft IIth, driving gear II and driven gear II, the power transmission shaft II are connected by shaft coupling II with the output shaft of motor II, institute The fixed cover of driving gear II is stated on power transmission shaft II, the fixed cover of driven gear II is in rotating shaft II, the driving gear II With the engaged transmission of driven gear II.
6. 6. cooperating type mechanical arm according to claim 5, it is characterised in that：The described one end of big arm body away from fuselage It is integrally formed the installation casing II to be formed for installing drive device II and rotating shaft II；The transmission mechanism II also includes two points Not from the spring bearing II of upper and lower supported on both sides power transmission shaft II, the installation casing II, which is provided with, to be used to fix spring bearing II Bearing fixed seat II；The rotating shaft II is arranged with the spring bearing IV that two difference descend both sides to form support from it, the peace Vanning body II is provided with the bearing fixed seat IV for being used for fixing spring bearing IV；The power transmission shaft II be arranged in parallel with rotating shaft II.
7. 7. cooperating type mechanical arm according to claim 6, it is characterised in that：The forearm is in " work " word including longitudinal section The small arm body of shape, the small arm body are provided with axis hole II close to one end of large arm, and the rotating shaft II is through axis hole II and passes through Driving key II realizes transmission.
8. 8. cooperating type mechanical arm according to claim 7, it is characterised in that：The cooperating type mechanical arm also includes cylinder Ⅰ；The described one end of small arm body away from large arm is provided with the mounting seat for being used for installing cylinder I, and the cylinder I is located at including cylinder body I Piston I in cylinder body I and the piston rod I with the cooperation of piston I, the piston rod I can back and forth move along perpendicular to the direction of horizontal plane It is dynamic, and one end of the stretching cylinder body I of the piston rod I is connected with the clamping device.
9. 9. cooperating type mechanical arm according to claim 8, it is characterised in that：The clamping device includes cylinder II, driven Motion block, sliding refers to and expansion sleeve；The cylinder II includes upper cylinder body II, lower cylinder body II, piston II and the work coordinated with piston II Stopper rod II, the upper cylinder body II, which is fixedly connected with lower cylinder body II and formed between upper cylinder body II and lower cylinder body II, accommodates piston II Accommodating chamber, the upper cylinder body II is fixedly connected with piston rod I；The bottom of the lower cylinder body II extends to form driving cylinder down, The hollow formation of driving cylinder drives passage and drive block is located in driving passage, and the piston rod II extends driving passage and can be along drive Dynamic passage reciprocatingly slides, and the piston rod II is connected with drive block；The barrel of the driving cylinder is provided with radial direction through hole, the sliding Finger is located in radial direction through hole, and the radial direction through hole and sliding refer between be provided with and hinder sliding to refer to the elasticity that is passed from radial direction through hole Part；The drive block is provided with up big and down small cone portion, and the sliding refers to can connect towards the end face of driving passage with cone portion Touch and driven by cone portion and stretch out radial direction through hole；The expansion sleeve be enclosed on driving cylinder it is outer and under the radial pressure that sliding refers to Outer distending.
10. 10. cooperating type mechanical arm according to claim 9, it is characterised in that：The cooperating type mechanical arm also includes one Control system, the control system include being used to handle the controller controlled, the wireless communicator for radio communication and being used for The power supply of electric power is provided to each consuming parts, the controller is connected by wireless communicator with exterior terminal, the controller Signal input part of the signal output part respectively with motor I, motor II, cylinder I and cylinder II be connected.