CN208005408U - It is a kind of can automatic tool changer grinding machine hand - Google Patents

Abstract

The utility model discloses a grinding manipulator capable of automatic tool change, comprising a manipulator and a grinding device arranged at the end of the manipulator, wherein the grinding device comprises a mounting plate, a plurality of grinding mechanisms set on the mounting plate and a driving A first rotary drive mechanism for the rotation of the mounting plate; wherein, a plurality of grinding mechanisms are evenly arranged along the circumferential direction of the mounting plate; each grinding mechanism includes a grinding wheel and a second rotary driving mechanism for driving the grinding wheel to rotate. The grinding manipulator of the utility model can greatly save tool changing time, thereby improving work efficiency.

Description

A grinding manipulator capable of automatic tool change

technical field

The utility model relates to a manipulator, in particular to a grinding manipulator capable of automatic tool change.

Background technique

Many small and medium-sized enterprises generally rely on workers to operate various grinders to complete the grinding work. The degree of automation is not high, and even when processing small parts, they rely more on manual single-piece grinding. The working efficiency of these methods is very low, and the product quality is also uneven. Secondly, the working environment is quite harsh. It is difficult for a considerable number of enterprises to effectively prevent dust and noise in the factory buildings. The most important thing is that these methods have great potential safety hazards. , and the destructiveness of the accident is quite large. Therefore, in order to improve the grinding efficiency and grinding quality, and solve potential safety hazards in the production process, a kind of grinding manipulator has appeared on the market. The robot automatic tool changing and grinding workpiece device can automatically select different tools for grinding operations according to different shape characteristics of the workpiece, occupies a small space, has a compact layout, is safe and reliable, has an accurate trajectory, and has stable quality.

However, the tool change process in the above-mentioned robot automatic tool changing and grinding workpiece device is driven by the robot to move the moving tool head installed at the end of the robot arm to the automatic tool magazine. And install the appropriate tool. In this way, when the robot automatic tool changing and grinding workpiece device needs to change the tool every time, the robot needs to drive the moving tool head to the automatic tool magazine to complete the selection and replacement of the tool, which greatly increases the tool changing time. Reduced production efficiency.

Utility model content

The technical problem to be solved by the utility model is to provide a grinding manipulator capable of automatic tool change. The grinding manipulator can greatly save the tool changing time, thereby improving work efficiency.

The technical scheme that the utility model solves the problems of the technologies described above is:

A grinding manipulator capable of automatic tool change, comprising a manipulator and a grinding device disposed at the end of the manipulator, wherein the grinding device comprises a mounting plate, a plurality of grinding mechanisms disposed on the mounting plate, and a first grinding mechanism for driving the mounting plate to rotate A rotary driving mechanism; wherein, a plurality of grinding mechanisms are evenly arranged along the circumferential direction of the mounting plate; each grinding mechanism includes a grinding wheel and a second rotating driving mechanism that drives the grinding wheel to rotate.

Preferably, the manipulator includes a base, a large arm, a small arm, a wrist and a mounting frame, wherein a device for driving the large arm to rotate around its axis is arranged between the base and the large arm. Boom rotation drive mechanism and a boom swing drive mechanism for driving the boom to swing on a vertical plane; between the boom and the small arm is provided a mechanism for driving the small arm to swing on a vertical plane Forearm swing drive mechanism; a wrist swing drive mechanism for driving the wrist to swing on a vertical plane is provided between the forearm and the wrist; the mounting bracket is installed on the end of the wrist, and the wrist A third rotation drive mechanism for driving the mounting frame to rotate around the axis of the wrist is disposed between the mounting frame.

Preferably, the boom rotation drive mechanism includes a boom rotation drive motor, the boom rotation drive motor is installed on the base, and the main shaft of the boom rotation drive motor is connected to the boom.

Preferably, the boom swing driving mechanism includes a swing mount and a boom swing drive motor, wherein the swing mount is arranged on the base and connected to the main shaft of the boom rotation drive motor; The boom swing driving motor is installed on the swing mount, and the main shaft of the boom swing driving motor is connected with the boom.

Preferably, it also includes a boom lifting drive mechanism arranged on the boom for driving the boom to move up and down, the boom lifting drive mechanism includes a lifting mounting seat arranged inside the boom, and a The rack on the boom, the gear arranged on the elevating mount and meshed with the rack, and the fourth rotation drive mechanism for driving the gear to rotate, wherein the elevating mount and the boom swing The main shaft of the drive motor is connected; the fourth rotary drive mechanism includes a fourth rotary drive motor and a synchronous transmission mechanism, and the synchronous transmission mechanism includes a driving synchronous wheel, a driven synchronous wheel and a synchronous belt, wherein the driven synchronous wheel It is coaxially connected with the gear, the main shaft of the fourth rotary drive motor is connected with the driving synchronous wheel, and the synchronous belt is wound around the driving synchronous wheel and the driven synchronous wheel.

Preferably, the fourth rotary drive motor is the same as the boom swing drive motor, and the fourth rotary drive mechanism further includes a transmission shaft and a fork clutch mechanism arranged on the transmission shaft, wherein the One end of the drive shaft is connected to the main shaft of the boom swing drive motor, and the other end is connected to the swing mount after passing through the lifting mount; the active synchronous wheel is mounted on the drive shaft, and the active synchronous A bearing is arranged between the wheel and the transmission shaft; the shift fork clutch mechanism includes a shift fork, a shift fork wheel, and a transverse shaft for driving the shift fork to move along the axial direction of the transmission shaft. The driving mechanism, wherein, the shift fork is connected with the shift fork wheel, and the first shift tooth and the second shift tooth are arranged on both sides of the shift fork wheel; The synchronous tooth that engages with the first shifting tooth of the wheel; the lifting mounting base is provided with a meshing tooth that meshes with the second shifting tooth; when the boom moves up and down, the first shifting tooth and the The synchronous teeth are meshed; when the boom is swinging, the second shifting teeth are meshed with the meshing teeth.

Preferably, the lateral drive mechanism includes a connecting block, one end of which is hinged on the shift fork, and the other end extends out of the lifting mounting base, and the lifting mounting base is at a position corresponding to the connecting block An adjustment slot is provided, and the length direction of the adjustment slot is parallel to the axial direction of the transmission shaft.

Preferably, the forearm swing drive mechanism includes a forearm swing drive motor, the forearm swing drive motor is installed at the end of the boom away from the base, the main shaft of the forearm swing drive motor is connected to the arm connect.

Preferably, the wrist swing drive mechanism includes a wrist swing drive motor, the wrist swing drive motor is installed at the end of the forearm away from the upper arm, and the main shaft of the wrist swing drive motor is connected to the wrist.

Preferably, the third rotary drive mechanism includes a third rotary drive motor disposed inside the wrist, the main shaft of the third rotary drive motor is connected to the mounting bracket; the first rotary drive mechanism includes a first A rotary drive motor, the first rotary drive motor is installed on the mounting frame, and the main shaft of the first rotary drive motor is connected to the mounting plate.

The working principle of the grinding manipulator capable of automatic tool change of the present utility model is:

When working, the manipulator drives the grinding device to move to the position in the workpiece that needs to be polished, and then, according to the shape characteristics of the workpiece and the requirements for the tool, the first rotating drive mechanism drives the mounting plate to rotate, so that the corresponding The grinding wheel is located at the position that needs to be polished in the workpiece, and then, the second rotary drive mechanism drives the grinding wheel to work, and drives the mounting plate to move through the manipulator, so that the grinding wheel can grind each processing surface of the workpiece for sanding. When the tool needs to be changed during the grinding process, the first rotary drive mechanism can directly drive the mounting plate to rotate at a certain angle, so that the grinding wheel to be replaced can directly move to the position of the previous grinding wheel, and the second rotation drive The workpiece is ground under the drive of the mechanism. Since the grinding manipulator is provided with a plurality of grinding wheels, it can be switched freely during the grinding process, and there is no need to set up an automatic tool changer in addition, and it is not necessary to automatically change tools like the robot in the prior art each time a tool is changed. The tool grinding workpiece device drives the moving tool head to move to the automatic tool changer for tool replacement, which not only saves tool changing time, but also improves work efficiency.

Compared with the prior art, the utility model has the following advantages and beneficial effects:

A plurality of grinding wheels are arranged on the grinding device in the grinding manipulator capable of automatic tool change of the utility model, and the free switching among the plurality of grinding wheels can be realized by driving the installation plate to rotate through the first rotating drive mechanism, without additional The automatic tool changer is set up again, and it is not necessary to drive the moving cutter head to move to the automatic tool changer to change the tool like the robot automatic tool changer grinding workpiece device in the prior art, which not only saves the tool change time, but also improves the work efficiency. efficiency.

Description of drawings

Fig. 1 and Fig. 2 are three-dimensional structure schematic diagrams of specific embodiments of the grinding manipulator capable of automatic tool change of the present invention.

Figure 3 is a rear view (remove the boom swing drive motor).

Fig. 4 is a sectional view along the line A-A of Fig. 3 .

FIG. 5 is a partially enlarged view of B in FIG. 3 .

FIG. 6 is a partially enlarged view at point C in FIG. 3 .

Fig. 7 is a schematic diagram of the three-dimensional structure inside the boom.

Fig. 8 is a three-dimensional structural schematic view (partial) of the fork clutch mechanism.

Fig. 9 is a schematic diagram of the three-dimensional structure of the fork wheel.

Fig. 10 is a schematic perspective view of the three-dimensional structure of the shift fork.

Fig. 11 is a schematic perspective view of the three-dimensional structure of the lifting mounting base.

Fig. 12 is a schematic perspective view of the three-dimensional structure of the driving synchronous wheel.

Detailed ways

The utility model will be further described in detail below in conjunction with the embodiments and accompanying drawings, but the implementation of the utility model is not limited thereto.

Referring to Fig. 1 and Fig. 2, the grinding manipulator capable of automatic tool change of the utility model includes a manipulator and a grinding device 6 arranged at the end of the manipulator, wherein the grinding device 6 includes a mounting plate 6-1, and is arranged on the mounting plate 6-1. 1 and the first rotary drive mechanism for driving the mounting plate 6-1 to rotate; wherein, the mounting plate 6-1 is circular, and the multiple grinding mechanisms are along the mounting plate 6-1 1 is evenly arranged in the circumferential direction; each grinding mechanism includes a grinding wheel 6-2 and a second rotary drive mechanism that drives the grinding wheel 6-2 to rotate.

Referring to Fig. 1-Fig. 4, the manipulator includes a base 1, a large arm 2, a small arm 3, a wrist 4 and a mounting frame 5, wherein the base 1 and the large arm 2 are provided with devices for driving the The boom rotation drive mechanism for the boom 2 to rotate around its axis and the boom swing drive mechanism for driving the boom 2 to swing on the vertical plane; the boom 2 and the small arm 3 are arranged There is a small arm swing drive mechanism for driving the small arm 3 to swing on the vertical plane; a hand swing for driving the wrist 4 to swing on the vertical plane is provided between the small arm 3 and the wrist 4 Driving mechanism: the mounting frame 5 is installed at the end of the wrist 4 , and a third rotation driving mechanism for driving the mounting frame 5 to rotate along the axis of the wrist 4 is arranged between the wrist 4 and the mounting frame 5 . In this way, through the mutual cooperation between the boom rotation drive mechanism, the boom swing drive mechanism, the small arm swing drive mechanism, the wrist swing drive mechanism and the third rotation drive mechanism, the grinding device 6 is driven to move to the center of the workpiece. Each machined surface is ground.

1-4, the boom rotation drive mechanism includes a boom rotation drive motor 8, the boom rotation drive motor 8 is installed on the base 1, and the main shaft of the boom rotation drive motor 8 is connected to the Boom 2 connection. In this way, the boom 2 can be driven to rotate along the axis direction of the boom 2 by driving the boom 2 to rotate and drive the motor 8 to rotate.

Referring to Fig. 1-Fig. 4, the boom swing driving mechanism includes a swing mount 7 and a boom swing drive motor 9, wherein the swing mount 7 is arranged on the base 1 and is connected with the boom The main shaft of the rotary drive motor 8 is connected; the boom swing drive motor 9 is installed on the swing mount 7 , and the main shaft of the boom swing drive motor 9 is connected with the boom 2 . In this way, by starting the boom swing drive motor 9, the boom 2 can be driven to swing on the vertical plane.

Referring to Figures 1-12, the grinding manipulator also includes a boom lifting drive mechanism arranged on the boom 2 for driving the boom 2 to perform lifting movements; wherein, the boom lifting drive mechanism includes a The lifting mounting seat 14 inside the boom 2, the rack 15 arranged on the boom 2, the gear 16 arranged on the lifting mounting seat 14 and meshed with the rack 15 and used to drive the gear 16 to rotate The fourth rotary drive mechanism, wherein, the lifting mounting base 14 is connected to the main shaft of the boom swing drive motor 9; the fourth rotary drive mechanism includes a fourth rotary drive motor and a synchronous transmission mechanism 17, and the synchronous The transmission mechanism 17 includes a driving synchronous wheel 17-1, a driven synchronous wheel 17-2 and a synchronous belt 17-3, wherein the driven synchronous wheel 17-2 is coaxially connected with the gear 16, and the fourth rotating The main shaft of the driving motor is connected with the driving synchronous wheel 17-1, and the synchronous belt 17-3 is wound around the driving synchronous wheel 17-1 and the driven synchronous wheel 17-2. Like this, drive described driving synchronous wheel 17-1 to rotate by the 4th rotation drive motor, thereby drive driven synchronous wheel 17-2 and the gear 16 that is coaxially connected with this driven synchronous wheel 17-2 to rotate, make to be installed in large The rack 15 on the arm 2 moves vertically together with the boom 2, so that the lifting of the boom 2 is realized.

Referring to Figures 1-12, the fourth rotary drive motor is the same as the boom swing drive motor 9, and the fourth rotary drive mechanism also includes a transmission shaft 17-6 and a transmission shaft 17-6 6, wherein one end of the transmission shaft 17-6 is connected to the main shaft of the boom swing drive motor 9, and the other end passes through the lifting mounting base 14 and then is rotatably connected to the swinging mounting base 7 Above; the active synchronous wheel 17-1 is installed on the transmission shaft 17-6, and a bearing 17-5 is arranged between the active synchronous wheel 17-1 and the transmission shaft 17-6; the shift fork The clutch mechanism 18 includes a shift fork 18-4, a shift fork wheel 18-1, and a lateral drive for driving the shift fork 18-4 to move along the axial direction of the transmission shaft 17-6 on the transmission shaft 17-6. mechanism, wherein the shift fork 18-4 is connected to the shift fork wheel 18-1, and the first shift tooth 18-3 and the second shift tooth 18-2 are arranged on both sides of the shift fork wheel 18-1 , the driving synchronous wheel 17-1 is provided with a synchronous tooth 17-4 meshing with the first shift tooth 18-3 of the shift fork wheel 18-1; The meshing teeth 14-1 engaged by the two shifting teeth 18-2; when the boom 2 moves up and down, the first shifting teeth 18-3 mesh with the synchronous teeth 17-4; when the boom 2 When swinging, the second shifting tooth 18-2 meshes with the engaging tooth 14-1. When the grinding manipulator needs to move up and down, the lateral drive mechanism drives the shift fork 18-4 to move on the transmission shaft 17-6, so that the shift fork 18-4 pushes the shift fork wheel 18-1 motion and the first shifting tooth 18-3 in the fork wheel 18-1 meshes with the synchronous tooth 17-4 in the driving synchronous wheel 17-1, thereby driving the driving synchronous wheel 17-1 to rotate, so that Can drive the big arm 2 to do lifting motion. When the boom 2 needs to swing, the lateral drive mechanism drives the shift fork 18-4 to move in reverse on the transmission shaft 17-6, so that the first shift tooth 18-1 of the shift fork wheel 18-1 3 is separated from the synchronous tooth 17-4 of the active synchronous wheel 17-1, and the second shift tooth 18-2 on the other side of the shift fork wheel 18-1 is separated from the meshing tooth 14-1 on the lift mount 14 engagement, thereby driving the lifting mounting base 14 and the boom 2 to swing. In addition, because the power source in the boom swing driving mechanism and the third rotation driving mechanism is the same motor, the manufacturing cost can be greatly saved.

Referring to Fig. 1-Fig. 12, the lateral drive mechanism includes a connecting block 18-5, one end of which is hinged on the shift fork 18-4, and the other end extends out of the lifting mounting base 14, The lifting mounting base 14 is provided with an adjustment slot 14-2 at a position corresponding to the connecting block 18-5, and the length direction of the adjustment slot 14-2 is parallel to the axial direction of the transmission shaft 17-6. By moving the connecting block 18-5, the shift fork 18-4 is driven to move, so that the shift fork wheel 18-1 can be driven to move on the transmission shaft 17-6, and is connected with the driving synchronous wheel 17-1 The synchronous teeth 17-4 on the lifting mount 14 or the meshing teeth 14-1 on the lifting mounting base 14 mesh, and then drive the big arm 2 to move up and down or drive the big arm 2 to swing on the vertical plane.

1-4, the forearm swing drive mechanism includes a forearm swing drive motor 10, the forearm swing drive motor 10 is installed on the end of the boom 2 away from the base 1, the forearm swing drive The main shaft of the motor 10 is connected with the small arm 3 . Its purpose is to drive the forearm 3 to swing on the vertical plane through the forearm swing drive motor 10 .

Referring to Fig. 1-Fig. 4, described hand swing drive mechanism comprises wrist swing drive motor 11, and described wrist swing drive motor 11 is installed in the forearm 3 away from the end of big arm 2, and the main shaft of this wrist swing drive motor 11 and all Wrist 4 connection described above. The third rotary drive mechanism includes a third rotary drive motor 13 disposed inside the wrist 4, the main shaft of the third rotary drive motor 13 is connected to the mounting bracket 5,

Referring to Fig. 1-Fig. 4, described first rotation drive mechanism comprises first rotation drive motor 12, and described first rotation drive motor 12 is installed on the mounting frame 5, and the main shaft of this first rotation drive motor 12 and described Mounting plate 6-1 connection.

Referring to Fig. 1-Fig. 4, there are three described grinding wheels 6-2, and the second rotary drive mechanism is three second rotary drive motors 6-3, and the three second rotary drive motors 6-3 are installed on the On the above-mentioned mounting plate 6-1, and the main shaft of each second rotary drive motor 6-3 is connected with a grinding wheel 6-2 respectively.

Referring to Fig. 1-Fig. 12, the working principle of the grinding manipulator capable of automatic tool change of the present invention is:

When working, the manipulator drives the grinding device 6 to move to the position in the workpiece that needs to be polished, and then, according to the requirements of the workpiece shape characteristics for the tool, the first rotating drive mechanism drives the mounting plate 6-1 to rotate, Make the corresponding grinding wheel 6-2 be located at the position that needs to be polished in the workpiece, then, the second rotary drive mechanism drives the grinding wheel 6-2 to work, and drives the mounting plate 6-1 to move through the manipulator, so that The grinding wheel 6-2 can grind each processing surface of the workpiece. When a tool needs to be changed during the grinding process, the first rotary drive mechanism can directly drive the mounting plate 6-1 to rotate at a certain angle, so that the grinding wheel 6-2 that needs to be replaced directly moves to the previous grinding wheel 6-2 position, and the workpiece is ground under the drive of the second rotary drive mechanism. Since the grinding manipulator is provided with a plurality of grinding wheels 6-2, it can be switched freely during the grinding process, without the need to set up an automatic tool changer in addition, and does not need to change tools as in the prior art each time. The robot automatic tool changing and grinding workpiece device drives the moving tool head to move to the automatic tool changing magazine to change tools, which not only saves tool changing time, but also improves work efficiency.

The above is a preferred implementation of the utility model, but the implementation of the utility model is not limited by the above content, and any other changes, modifications, substitutions, combinations, Simplification should be equivalent replacement methods, all of which are included in the protection scope of the present utility model.

Claims (10)

1. it is a kind of can automatic tool changer grinding machine hand, including manipulator and grinding device in arm end is set, It is characterized in that, the grinding device includes mounting plate, multiple workpiece polishing mechanisms on a mounting board are arranged and are installed for driving First rotary drive mechanism of plate rotation；Wherein, multiple workpiece polishing mechanisms are uniformly arranged along the circumferencial direction of mounting plate；Each beat Grinding machine structure includes polish grinding wheel and the second rotary drive mechanism of the driving polishing grinding wheel rotation.

2. it is according to claim 1 can automatic tool changer grinding machine hand, which is characterized in that the manipulator includes base Seat, large arm, forearm, wrist and mounting bracket, wherein be provided between the pedestal and the large arm for driving the large arm Large arm pendulum around the large arm rotary drive mechanism of its axial line rotation and for driving the large arm to be swung on vertical plane Dynamic driving mechanism；The small arm swing for driving the forearm to swing on vertical plane is provided between the large arm and forearm to drive Motivation structure；The wrist swinging for driving the wrist to swing on vertical plane is provided between the forearm and the wrist to drive Motivation structure；The mounting bracket is mounted on the end of the wrist, is provided between the wrist and the mounting bracket for driving peace Shelve the third rotary drive mechanism of the axial line rotation around wrist.

3. it is according to claim 2 can automatic tool changer grinding machine hand, which is characterized in that the large arm rotary driving machine Structure includes large arm rotary drive motor, and the large arm rotary drive motor is mounted on pedestal, the large arm rotary drive motor Main shaft is connect with the large arm.

4. it is according to claim 3 can automatic tool changer grinding machine hand, which is characterized in that the large arm wobble drive machine Structure includes swinging mounting base and large arm wobble drive motor, wherein and the swing mounting base is arranged on the pedestal, and with The main shaft of the large arm rotary drive motor connects；The large arm wobble drive motor is mounted in the swing mounting base, should The main shaft of large arm wobble drive motor is connect with the large arm.

5. it is according to claim 4 can automatic tool changer grinding machine hand, which is characterized in that further include setting described big On arm includes that setting exists for driving the large arm lift drive mechanism that large arm moves up and down, the large arm lift drive mechanism Lifting mounting base inside the large arm, the rack being arranged in large arm, setting are nibbled in lifting mounting base and with the rack The gear of conjunction and the 4th rotary drive mechanism for driving gear rotation, wherein the lifting mounting base with it is described The main shaft of large arm wobble drive motor connects；4th rotary drive mechanism includes the 4th rotary drive motor and synchronous biography Motivation structure, the synchronous drive mechanism include active synchronization wheel, driven synchronizing wheel and synchronous belt, wherein the driven synchronization Wheel is coaxially connected with the gear, and the main shaft of the 4th rotary drive motor is connect with the active synchronization wheel, the synchronization Band is looped around in the active synchronization wheel and driven synchronizing wheel.

6. it is according to claim 5 can automatic tool changer grinding machine hand, which is characterized in that it is described 4th rotation driving electricity Machine is same with the large arm wobble drive motor, and the 4th rotary drive mechanism further includes transmission shaft and is arranged in institute State the shift fork clutch on transmission shaft, wherein described transmission shaft one end is connect with the main shaft of the large arm wobble drive motor, The other end is rotatably connected on after passing through lifting mounting base in the swing mounting base；The active synchronization wheel is mounted on the transmission On axis, bearing is provided between the active synchronization wheel and the transmission shaft；The shift fork clutch include shift fork, forked plectrum wheel with And the transversal driving mechanism for driving the shift fork to be moved along the axis direction of the transmission shaft on the transmission shaft, In, the shift fork is connect with the forked plectrum wheel, and the both sides of the forked plectrum wheel are provided with the first moving tooth and the second moving tooth；The active The synchronous gear engaged with the first moving tooth of the forked plectrum wheel is provided in synchronizing wheel；Be provided in the lifting mounting base with it is described The tooth engaged of second moving tooth engagement；When the large arm moves up and down, first moving tooth and the synchronous tooth engagement；Work as institute When stating large arm and doing pendulum motion, second moving tooth is engaged tooth engagement with described.

7. it is according to claim 6 can automatic tool changer grinding machine hand, which is characterized in that the transversal driving mechanism packet Link block is included, described link block one end is hinged on the shift fork, and the other end extends outside the lifting mounting base, the lifting Mounting base is being provided with regulating tank, the length direction of the regulating tank and the transmission shaft with the link block corresponding position Axis direction is parallel.

8. it is according to claim 7 can automatic tool changer grinding machine hand, which is characterized in that the forearm wobble drive machine Structure includes forearm wobble drive motor, and the forearm wobble drive motor is mounted on one end far from pedestal in the large arm, should The main shaft of forearm wobble drive motor is connect with the forearm.

9. it is according to claim 8 can automatic tool changer grinding machine hand, which is characterized in that the wrist swinging driving machine Structure includes wrist swinging driving motor, and the wrist swinging driving motor is mounted on one end far from large arm, the wrist in forearm The main shaft of wobble drive motor is connect with the wrist.

10. it is according to claim 9 can automatic tool changer grinding machine hand, which is characterized in that third rotation driving Mechanism includes the third rotary drive motor being arranged inside the wrist, the main shaft of the third rotary drive motor with it is described Mounting bracket connects；First rotary drive mechanism includes the first rotary drive motor, the first rotary drive motor installation On mounting bracket, the main shaft of first rotary drive motor is connect with the mounting plate.