CN208663248U - A kind of mechanical arm drive mechanism - Google Patents

Abstract

The utility model discloses a kind of mechanical arm drive mechanisms, it is related to machining apparatus, it solves the dust clast generated during machine tooling to be easy to drop down onto the slot of rack gear, the accuracy of mesh of gear and rack gear is caused to decline, the problem of transmission accuracy of mechanical arm is impacted, its key points of the technical solution are that including crossbeam and the mechanical arm by driver plate transverse direction transmission connection on crossbeam, lateral driving rack is provided on the side wall of crossbeam, it is down-set that lateral driving rack has serrate one side, lateral driving motor is provided on driver plate, traverse gear is connected on the motor shaft of lateral driving motor, cross slide way is arranged in the two sides of lateral driving rack in crossbeam, lateral guide block is provided on driver plate, there is the cross spacing slot being recessed inwardly on the inside of cross slide way, it is provided on lateral guide block in insertion cross spacing slot Cross spacing block, the dust clast that can reduce machine tooling generation drops down onto the slot of rack gear and impacts to the transmission accuracy of mechanical arm.

Description

A kind of mechanical arm drive mechanism

Technical field

The utility model relates to machining apparatus, in particular to a kind of mechanical arm drive mechanism.

Background technique

Manipulator is a kind of certain holding functions that can imitate manpower and arm, to by fixed routine crawl, carrying object Or the automatic pilot of operational instrument.It needs to carry out clamping to product using manipulator mostly in existing machine tooling.

The manipulator used on lathe, which is usually connected with, drives manipulator to carry out mobile mechanical arm, and mechanical arm passes through gear Laterally on crossbeam, the top of crossbeam is arranged usually to facilitate the installation of rack gear in the rack gear on crossbeam to rack structure for transmission connection.

The common connector bend pipe of one kind as shown in Fig. 1 just needs to be processed by lathe, and the both ends of bend pipe are mutual It is perpendicular, and screw thread is offered in bend pipe one end, the other end opens up link slot 100, and the medium position of bend pipe is provided with for convenient The flat clamping 10 of lathe clamping bend pipe.

But rack gear is often all an exposure to outside crossbeam in use, and the dust generated during machine tooling is broken Bits are easy to drop down onto the slot of rack gear, cause the accuracy of mesh of gear and rack gear to decline, cause shadow to the transmission accuracy of mechanical arm It rings.

Utility model content

The purpose of the utility model is to provide a kind of mechanical arm drive mechanism, the dust that can reduce machine tooling generation is broken It considers to be worth doing and the transmission accuracy of mechanical arm is impacted in the slot for dropping down onto rack gear.

The above-mentioned technical purpose of the utility model has the technical scheme that

A kind of mechanical arm drive mechanism, the machinery including crossbeam and by driver plate transverse direction transmission connection on crossbeam Arm, is provided with lateral driving rack on the side wall of the crossbeam, and it is down-set that the transverse direction driving rack has a serrate one side, It is provided with lateral driving motor on the driver plate, is connected on the motor shaft of the transverse direction driving motor and lateral driving rack The traverse gear being meshed, the crossbeam are arranged cross slide way in the two sides of lateral driving rack, set on the driver plate It is equipped with the lateral guide block with cross slide way sliding cooperation, the inside of the cross slide way has the cross spacing slot being recessed inwardly, The cross spacing block being provided on the transverse direction guide block in insertion cross spacing slot.

By using above-mentioned technical proposal, by the way that lateral driving rack to be arranged on the side wall of crossbeam, and make transverse direction The serrate one side of driving rack tool is down-set, and dust clast when can reduce machine tooling drops down onto the slot of rack gear, To avoid the decline of traverse gear with lateral driving rack engagement property, cross slide way and lateral guide block are worked in coordination can Guide effect is played to the transverse shifting of mechanical arm, while in cross spacing block insertion cross spacing slot, being able to ascend mechanical arm Stability when transverse shifting.

Preferably, the transverse direction driving motor is installed on driver plate by motor mounting plate, the laterally transmission electricity Machine is installed on motor mounting plate, and the motor mounting plate is installed on driver plate by bolt and nut, is opened on the driver plate Equipped with the fixation hole passed through for bolt, the diameter of fixation hole is greater than the diameter of bolt, and the driver plate is under motor mounting plate Side is installed with adjustable plate, and the two sides of the adjustable plate are threaded with the adjusting spiral shell to offset with motor mounting plate along the vertical direction Bolt.

It, can be to motor during use by the way that adjusting bolt is adjusted by using above-mentioned technical proposal The height of mounting plate is adjusted, so that the mesh degree of traverse gear and lateral driving rack is adjusted, thus Guarantee the Meshing stability of traverse gear and lateral driving rack.

Preferably, the mechanical arm is sequentially connected on driver plate by vertical transmission component, the vertical transmission group Part include along the vertical direction fixed vertical driving rack on the robotic arm, engage to drive vertical transmission with vertical driving rack Rack gear carries out the vertical transmission gear of vertical direction lifting and is connected with vertical transmission gear to drive vertical transmission gear rotation Vertical driving motor, the vertical driving motor is installed on driver plate, and the mechanical arm is located at the one of vertical driving rack Side is provided with two vertical guides, is installed on the driver plate in the vertical guide block slid for vertical guide, the vertical guide Two sides there is the vertical spacing slot that is recessed inwardly, the vertical spacing being provided on the vertical guide block in insertion vertical spacing slot Block.

By using above-mentioned technical proposal, it is meshed by vertical driving rack with vertical transmission gear, mechanical arm can The lifting of vertical direction is carried out under the driving of vertical driving motor, vertical guide and vertical guide block match can be to mechanical arm It is vertically movable play guide effect, while in vertical spacing block insertion vertical spacing slot, it is vertically movable to be able to ascend mechanical arm Stability.

Preferably, the vertical driving rack is engaged with the vertical felt gear being lubricated to vertical rack, it is described Lateral driving rack is engaged with the lateral felt gear being lubricated to lateral driving rack, is provided on the driver plate to perpendicular To the fuel reserve tank of felt gear and lateral felt gear fuel feeding.

By using above-mentioned technical proposal, lateral felt gear can be lubricated lateral driving rack, vertical felt Gear can be lubricated vertical driving rack, can reduce abrasion when gear & rack structure transmission, while can also incite somebody to action The dust on rack gear or clast removal are dropped down onto, stability when gear & rack structure transmission is improved.

Preferably, the mechanical arm is respectively provided in the two sides of vertical guide and the crossbeam in the two sides of cross slide way There is anticreep block.

It can be avoided mechanical arm by being provided with anticreep block by using above-mentioned technical proposal and taken off in transmission process Crossbeam and driver plate out.

Preferably, being provided with manipulator below the mechanical arm, the manipulator includes orthogonal first mechanical Claw and the second mechanical claw, master jaw, rotating disk and mechanical arm, first mechanical claw and the setting of the second mechanical claw are equal It is arranged on master jaw, the master jaw is fixedly connected with rotating disk, and the mechanical arm is towards the setting of one end of rotating disk and revolves Turntable bottom is connected to drive the rotating mechanism that rotating disk is rotated.

By using above-mentioned technical proposal, just needed in the production process of connector bend pipe using lathe butt joint bend pipe Both ends are processed, and existing processing method is all using secondary operation, and one end of primary butt joint bend pipe is processed, led The process-cycle is caused to extend, by being provided with the first mechanical claw and the second mechanical claw, in machine tooling, the first mechanical claw A connector bend pipe to be processed can be respectively clamped with the second mechanical claw, the first mechanical claw first send connector bend pipe to lathe The upper processing for carrying out connector bend pipe one end, then again presss from both sides out the connector bend pipe of one end completion of processing, and subsequent rotating disk drives card Pawl seat is rotated, and behind the orientation for adjusting connector bend pipe, then connector bend pipe is sent to carrying out the connector bend pipe other end on lathe Processing；It is sent to the connector bend pipe completion of processing on the first mechanical claw and then by the connector bend pipe on the second mechanical claw It is processed on to lathe, then during the second mechanical claw top connection bend pipe is processed, the first mechanical claw is by completion of processing Connector bend pipe send out, again clamp a unprocessed connector bend pipe, then on the first mechanical claw connector bend pipe processing when, The connector bend pipe of completion of processing can be sent out and clamp a unprocessed connector bend pipe again by the second mechanical claw, so follow Ring, not only without manually being operated, can a machine tooling just connector bend pipe is produced, lathe can also be improved Utilization rate reduces manipulator and the connector bend pipe after completion of processing is sent out to and returned the time that the new connector bend pipe of folder is wasted, greatly The process velocity of connector bend pipe is accelerated greatly, to reduce production cost when production.

Preferably, the rotating mechanism includes rotating electric machine and is connected with mechanical arm for electricity to be arranged for rotating electric machine Machine mounting base, the rotating disk is extended towards the side of motor mount mounting base, the motor mount direction rotation The side of turntable is provided with the limit ring seat positioned at mounting base outer circumferential.

By using above-mentioned technical proposal, pass through the design and motor mount upper limit ring seat of rotating disk upper mounting seat Design, stop collar seat is located at the outer circumferential of mounting base, and rotating disk is sent out when can be avoided rotating disk and motor axis connection shakiness It is raw to shake, improve installation when manipulator uses.

Preferably, the two sides of the rotating disk are additionally provided with the limit assembly limited to rotating disk rotational angle, The limit assembly includes the limited block to offset on the rotating pan with limited post positioned at the limited post of rotating disk two sides and setting.

By using above-mentioned technical proposal, by being provided with limit assembly, when the upper limited block and limited post of rotating disk End face complete the rotation of rotating disk maximum angle when offseting, and just complete the adjustment of butt joint bend pipe angle, avoid Rotating disk rotation angle spends big or too small caused machine tooling failure.

Preferably, offering several installation positions for limited block installation in the rotating disk, the installation position is offered Two, the angle between two installation positions is 90 °.

By using above-mentioned technical proposal, there are two opening up installation position, and make the angle between two installation positions 90 °, when installing a limited block, the angle for rotating disc spins is 180 °；When installing two limited blocks, disc spins are rotated Angle is 90 °.

Preferably, the side of the rotating disk is provided with the limit base being fixedly connected with motor mount, the limit Seat tool has the mounting table for the installation of two limited posts, is provided with the Buffer Unit buffered to limited block on the limited post, The Buffer Unit includes the dashpot being provided on limited post, slides the buffering for being connected to and offseting in dashpot and with limited block Fuse and driving buffering fuse have the buffer to dashpot opening direction mobile trend, the buffer direction limit always One end of position block has the abutting column to offset with buffering fuse, offers the perforation passed through for buffer in the mounting table, The buffer is threaded with two locking nuts being fixed on buffer on limit base in the two sides of mounting table, described Limit column end is installed with the attaching nut that limited post is installed in buffer.

By using above-mentioned technical proposal, by being provided with limit base, limited post is mounted in the mounting table of limit base Can increase afterwards limited post use when stability, by being provided with Buffer Unit, when in use limited block with buffer fuse phase It supports, buffering fuse slowly moves back under the action of buffer, can be avoided limit caused by limited block and limited post direct collision The damage of position block and limited post, buffer is fixed on limit base by two locking nuts, by the position to locking nut into Row is adjusted, the fixed position of adjustable buffer；Meanwhile limited post is installed on buffer by attaching nut, by right The position of attaching nut is adjusted, and the position of limited post can be adjusted, to be applied to buffering fuse to column is abutted Elastic force be adjusted.

In conclusion the utility model has the following beneficial effects:

1. by the way that lateral driving rack to be arranged on the side wall of crossbeam, and dividing into the sawtooth court of lateral driving rack It sets, the dust clast generated when machine tooling can be reduced and dropped down onto the slot of lateral driving rack, while passing through lateral felt The setting of gear can be lubricated and clean to lateral driving rack, steady when further improving rack pinion It is qualitative；

2. after one end completion of processing of connector bend pipe, the first mechanical claw can be passed through by being provided with rotating disk Connector bend pipe is pressed from both sides out and is rotated again, so that the other end of connector bend pipe is sent to machine tooling, without manually being operated, Can a machine tooling just connector bend pipe is produced, thus production cost when reducing production；

3. can be buffered when in use to limited block by being provided with Buffer Unit, avoid limited block and limited post Abrasion both caused by sharp impacts.

Detailed description of the invention

Fig. 1 is the structural schematic diagram of connector bend pipe；

Fig. 2 is the overall schematic of mechanical arm drive mechanism；

Front view when Fig. 3 is driver plate not set protective plate；

Fig. 4 is the enlarged drawing in Fig. 2 at A；

Fig. 5 is that driver plate is connected the schematic diagram of one side with crossbeam；

Fig. 6 is the scheme of installation of each component on driver plate；

Fig. 7 is the enlarged drawing in Fig. 2 at B；

Fig. 8 is the front view of mechanical arm；

Fig. 9 is the structural schematic diagram of manipulator；

Figure 10 is the explosive view of rotating disk and limited block；

Figure 11 is the scheme of installation of limit assembly；

Figure 12 is the explosive view of Buffer Unit.

In figure, 1, crossbeam；11, lateral driving rack；12, cross slide way；121, cross spacing slot；13, anticreep block；2, Mechanical arm；21, vertical driving rack；22, vertical guide；221, vertical spacing slot；3, driver plate；31, lateral driving motor； 311, traverse gear；32, lateral guide block；321, cross spacing block；33, motor mounting plate；34, adjustable plate；341, it adjusts Bolt；35, vertical driving motor；351, vertical transmission gear；36, vertical guide block；361, vertical spacing block；37, lateral felt Gear；38, vertical felt gear；39, fuel reserve tank；391, check valve；392, tee tube；40, protective plate；4, manipulator；41, One mechanical claw；411, the first fixed jaw；412, the first movable claw；413, rubber clip pad；4131, clamping slot；42, second is mechanical Claw；421, the second fixed jaw；422, the second movable claw；43, master jaw；44, rotating disk；441, mounting base；442, installation position； 443, limited block；46, motor mount；461, ring seat is limited；47, limited post；471, dashpot；48, limit base；481, it installs Table top；49, Buffer Unit；491, fuse is buffered；4911, spacing head；492, buffer；493, column is abutted；494, locking nut； 495, attaching nut；10, flat clamping；100, link slot.

Specific embodiment

The utility model is described in further detail below in conjunction with attached drawing.

Referring to Fig. 2, a kind of mechanical arm drive mechanism, including crossbeam 1 and by driver plate 3 laterally transmission connection in crossbeam Mechanical arm 2 on 1 is also connected with the manipulator 4 for staple joint bend pipe below mechanical arm 2.

Referring to Fig. 3 and Fig. 4, lateral driving rack 11 is provided on the side wall of crossbeam 1, lateral driving rack 11 has sawtooth One side it is down-set, lateral driving motor 31 is provided on driver plate 3, be connected on the motor shaft of lateral driving motor 31 with Cross slide way is arranged in the two sides of lateral driving rack 11 in the traverse gear 311 that lateral driving rack 11 is meshed, crossbeam 1 12, the lateral guide block 32 with the sliding cooperation of cross slide way 12 is provided on driver plate 3, the inside of cross slide way 12, which has, to concave Sunken cross spacing slot 121, the cross spacing block 321 being provided on lateral guide block 32 in insertion cross spacing slot 121

Lateral driving motor 31 is installed on driver plate 3 by motor mounting plate 33, and lateral driving motor 31 is installed in electricity On machine mounting plate 33, motor mounting plate 33 is installed on driver plate 3 by bolt and nut, is offered on driver plate 3 and is worn for bolt The fixation hole (not shown) crossed, the diameter of fixation hole are greater than the diameter of bolt, and driver plate 3 is in the lower section of motor mounting plate 33 It is installed with adjustable plate 34, the two sides of adjustable plate 34 are threaded with the adjusting bolt to offset with motor mounting plate 33 along the vertical direction 341。

Referring to figure 5 and figure 6, mechanical arm 2 is sequentially connected on driver plate 3 by vertical transmission component, vertical transmission component Including be installed on mechanical arm 2 along the vertical direction vertical driving rack 21, engage with vertical driving rack 21 it is vertical to drive Driving rack 21 carries out the vertical transmission gear 351 of vertical direction lifting and the drive that is connected with vertical transmission gear 351 is vertical The vertical driving motor 35 that transmission gear 351 rotates, vertical driving motor 35 are installed on driver plate 3, and mechanical arm 2 is located at vertical The side of driving rack 21 is provided with two vertical guides 22, is installed on driver plate 3 and vertically leads what is slid for vertical guide 22 Block 36, the two sides of vertical guide 22 have the vertical spacing slot 221 being recessed inwardly, and the vertical limit of insertion is provided on vertical guide block 36 Vertical spacing block 361 in the slot 221 of position.

Referring to Fig. 3 and Fig. 6, vertical driving rack 21 is engaged with the vertical felt gear 38 being lubricated to vertical rack, Lateral driving rack 11 is engaged with the lateral felt gear 37 being lubricated to lateral driving rack 11, is provided on driver plate 3 To the fuel reserve tank 39 of vertical felt gear 38 and lateral 37 fuel feeding of felt gear, fuel reserve tank 39 is connected with check valve 391 and passes through Tee tube 392 is vertical felt gear 38 and lateral 37 fuel feeding of felt gear.

Referring to Fig. 7 and Fig. 8, be additionally provided with the protective plate 40 protected to driver plate 3 on the outside of driver plate 3, mechanical arm 2 in The two sides of vertical guide 22 and crossbeam 1 are provided with anticreep block 13 in the two sides of cross slide way 12, and anticreep block 13 is rubber Anticollison block made of glue material.

Referring to Fig. 8 and Fig. 9, manipulator 4 includes orthogonal first mechanical claw 41 and the second mechanical claw 42, claw Seat 43, rotating disk 44 and mechanical arm 2, wherein the first mechanical claw 41 and the setting of the second mechanical claw 42 are arranged at master jaw 43 On, master jaw 43 is fixedly connected with rotating disk 44, and mechanical arm 2 is arranged towards one end of rotating disk 44 to be connected with 44 bottom of rotating disk To the rotating mechanism that drives rotating disk 44 to be rotated, it is additionally provided on mechanical arm 2 and mechanical arm 2 is driven to move along the vertical direction Vertically movable component (not shown), vertically movable component be conventional gear rack gear transmission, belong to those skilled in the art Common knowledge, therefore be not described in detail herein.

First mechanical claw 41 includes that the first fixed jaw 411, the first movable claw 412 and the first movable claw 412 of driving lean on Close or remote from the first actuator (not shown) of the first fixed jaw 411；Second mechanical claw 42 includes the second fixed jaw 421, the second movable claw 422 and the second movable claw 422 of driving (are schemed close to or far from the second actuator of the second fixed jaw 421 In be not shown)；First fixed jaw 411 is towards the side of the first movable claw 412, the first movable claw 412 towards the first fixed jaw 411 Side, the second fixed jaw 421 is towards the side of the second movable claw 422 and the second movable claw 422 towards the second fixed jaw 421 Side be provided with rubber clip pad 413, the clamping slot 4131 being caught in for connector bend pipe one end is offered in rubber clip pad 413, The size that rubber clip pad 413 can according to need the connector bend pipe of clamping is adjusted, to adapt to different size connector bend pipe Clamping use.

Rotating mechanism includes rotating electric machine (not shown) and is connected with mechanical arm 2 for electricity to be arranged for rotating electric machine Machine mounting base 46, rotating disk 44 is extended towards the side of motor mount 46 mounting base 441, the motor mount 46 The side of rotating disk 44 is provided with the limit ring seat 461 positioned at 441 outer circumferential of mounting base.

The two sides of rotating disk 44 are additionally provided with the limit assembly limited to 44 rotational angle of rotating disk, limit assembly packet It includes the limited post 47 for being located at 44 two sides of rotating disk and the limited block 443 to offset in rotating disk 44 with limited post 47 is set, two Limited post 47 is symmetrical arranged along 44 radial direction of rotating disk, and the line of two limited posts, 47 end face is by 44 symmetry division of rotating disk.

0 and Figure 11 referring to Fig.1,44 side of rotating disk are provided with the limit base 48 being fixedly connected with motor mount 46, limit Position seat 48 is in T font structure, and 48 two sides of limit base are symmetrically arranged with the mounting table 481 for the installation of two limited posts 47.

Open up that there are two the installation positions 442 installed for limited block 443 in rotating disk 44, the angle between two installation positions 442 For °, by installing one or two limited block 443 on installation position 442, can to rotating disk 44 rotate angle carry out 90 ° Or 180 ° of adjustment, limited block 443 is provided with one in the present embodiment.

Referring to Fig. 9, Figure 11 and Figure 12, it is provided with the Buffer Unit 49 buffered to limited block 443 on limited post 47, is delayed Rush component 49 include axially through be provided with buffering fuse 491 on dashpot 471, sliding be connected in dashpot 471 and The buffering fuse 491 and driving buffering fuse 491 to offset with limited block 443 has to 471 opening direction of dashpot always to be moved Dynamic trend elastic component.

Limited post 47 in the opening of limiting slot inside contract to be formed and with buffering 491 diameter of fuse it is identical, buffer 491 court of fuse Spacing head 4911 is formed to one end circumferential direction evagination of elastic component, the diameter of spacing head 4911 is greater than the diameter that dashpot 471 is open The completely out dashpot 471 of fuse 491 is buffered with limitation.

Elastic component is that outside has a threaded buffer 492, one end of buffer 492 towards buffering fuse 491 have with The abutting column 493 that fuse 491 offsets is buffered, the buffer 492 in the application is identical as conventional buffer 492, belongs to ability The common knowledge of field technique personnel, therefore not at this to being described the internal structure of buffer 492 more.

The perforation passed through for buffer 492 is offered in mounting table 481, buffer 492 is in the two sides of mounting table 481 Be threaded with two locking nuts 494 buffer 492 being fixed on limit base 48,47 end of limited post is welded with will be slow Rush the attaching nut 495 that fuse 491 is installed in buffer 492.

Application method:

First mechanical claw 41 and the second mechanical claw 42 can respectively clamp a connector bend pipe to be processed, and first is mechanical Claw 41 first send connector bend pipe to the processing of progress connector bend pipe one end on lathe, then again by the connector of one end completion of processing Bend pipe presss from both sides out, and subsequent rotating disk 44 drives master jaw 43 to be rotated, behind the orientation for adjusting connector bend pipe, then by connector bend pipe It send to the processing of the progress connector bend pipe other end on lathe；After the connector bend pipe completion of processing on the first mechanical claw 41, The connector bend pipe on the second mechanical claw 42 is sent to processing on lathe again, then 42 top connection bend pipe of the second mechanical claw adds During work, the first mechanical claw 41 sends out the connector bend pipe of completion of processing, and it is curved to clamp a unprocessed connector again Pipe, then on the first mechanical claw 41 connector bend pipe processing when, the second mechanical claw 42 can be by the connector bend pipe of completion of processing It sends out and clamps a unprocessed connector bend pipe again, so recycle, it, being capable of a lathe not only without manually being operated Processing just produces connector bend pipe, can also improve the utilization rate of lathe, reduces manipulator 4 for the connector after completion of processing Bend pipe, which is sent out and returned, presss from both sides the time that new connector bend pipe is wasted, and the process velocity of connector bend pipe is greatly accelerated, to reduce Production cost when production.

This specific embodiment is only the explanation to the utility model, is not limitations of the present invention, ability Field technique personnel can according to need the modification that not creative contribution is made to the present embodiment after reading this specification, but As long as all by the protection of Patent Law in the scope of the claims of the utility model.

Claims (10)

1. a kind of mechanical arm drive mechanism, including crossbeam (1) and by driver plate (3) laterally transmission connection on crossbeam (1) Mechanical arm (2), which is characterized in that be provided with lateral driving rack (11) on the side wall of the crossbeam (1), it is described laterally transmission The serrate one side of rack gear (11) tool is down-set, is provided with lateral driving motor (31), the transverse direction on the driver plate (3) The traverse gear (311) being meshed with lateral driving rack (11) is connected on the motor shaft of driving motor (31), it is described Cross slide way (12) are arranged in the two sides of lateral driving rack (11) in crossbeam (1), are provided on the driver plate (3) and laterally lead The lateral guide block (32) of rail (12) sliding cooperation, the inside of the cross slide way (12) have the cross spacing slot being recessed inwardly (121), the cross spacing block (321) being provided on the lateral guide block (32) in insertion cross spacing slot (121).

2. a kind of mechanical arm drive mechanism according to claim 1, which is characterized in that the transverse direction driving motor (31) is logical Motor mounting plate (33) to be crossed to be installed on driver plate (3), the transverse direction driving motor (31) is installed on motor mounting plate (33), The motor mounting plate (33) is installed on driver plate (3) by bolt and nut, is offered on the driver plate (3) and is worn for bolt The fixation hole crossed, the diameter of fixation hole are greater than the diameter of bolt, and the driver plate (3) is fixed in the lower section of motor mounting plate (33) Have adjustable plate (34), the two sides of the adjustable plate (34) are threaded with the tune to offset with motor mounting plate (33) along the vertical direction It saves bolt (341).

3. a kind of mechanical arm drive mechanism according to claim 1, which is characterized in that it is vertical that the mechanical arm (2) passes through Transmission component is sequentially connected on driver plate (3), and the vertical transmission component includes being installed on mechanical arm (2) along the vertical direction Vertical driving rack (21), engage with vertical driving rack (21) to drive vertical driving rack (21) to carry out vertical direction liter The vertical transmission gear (351) of drop and the vertical transmission gear (351) of drive that is connected with vertical transmission gear (351) rotate perpendicular To driving motor (35), the vertical driving motor (35) is installed on driver plate (3), and the mechanical arm (2) is located at vertical pass The side of carry-over bar (21) is provided with two vertical guides (22), is installed on the driver plate (3) sliding for vertical guide (22) The vertical guide block (36) moved, the two sides of the vertical guide (22) have the vertical spacing slot (221) being recessed inwardly, described vertical The vertical spacing block (361) being provided on guide block (36) in insertion vertical spacing slot (221).

4. a kind of mechanical arm drive mechanism according to claim 3, which is characterized in that the vertical driving rack (21) is nibbled Conjunction has the vertical felt gear (38) being lubricated to vertical rack, and the transverse direction driving rack (11) is engaged with to lateral transmission The lateral felt gear (37) that rack gear (11) is lubricated, be provided on the driver plate (3) to vertical felt gear (38) and The fuel reserve tank (39) of lateral felt gear (37) fuel feeding.

5. a kind of mechanical arm drive mechanism according to claim 3, which is characterized in that mechanical arm (2) Yu Shuxiang is led The two sides of rail (22) and the crossbeam (1) are provided with anticreep block (13) in the two sides of cross slide way (12).

6. a kind of mechanical arm drive mechanism according to claim 3, which is characterized in that setting below the mechanical arm (2) Have manipulator (4), the manipulator (4) includes orthogonal first mechanical claw (41) and the second mechanical claw (42), card Pawl seat (43), rotating disk (44) and mechanical arm (2), first mechanical claw (41) and the second mechanical claw (42) setting are all provided with It sets on master jaw (43), the master jaw (43) is fixedly connected with rotating disk (44), and the mechanical arm (2) is towards rotating disk (44) one end setting is connected the rotating mechanism for driving rotating disk (44) to be rotated with rotating disk (44) bottom.

7. a kind of mechanical arm drive mechanism according to claim 6, which is characterized in that the rotating mechanism includes electric rotating Machine and it is connected with mechanical arm (2) for motor mount (46) to be arranged for rotating electric machine, the rotating disk (44) is towards motor The side of mounting base (46), which is extended, to be had mounting base (441), side of the motor mount (46) towards rotating disk (44) It is provided with the limit ring seat (461) positioned at mounting base (441) outer circumferential.

8. a kind of mechanical arm drive mechanism according to claim 7, which is characterized in that the two sides of the rotating disk (44) are also It is provided with the limit assembly limited to rotating disk (44) rotational angle, the limit assembly includes being located at rotating disk (44) two The limited block (443) that the limited post (47) of side and setting offset on rotating disk (44) with limited post (47).

9. a kind of mechanical arm drive mechanism according to claim 8, which is characterized in that offered on the rotating disk (44) Several installation positions (442) for limited block (443) installation, there are two the installation position (442) opens up, two installation positions (442) angle between is 90 °.

10. a kind of mechanical arm drive mechanism according to claim 9, which is characterized in that the side of the rotating disk (44) It is provided with the limit base (48) being fixedly connected with motor mount (46), the limit base (48) has pacifies for two limited posts (47) The mounting table (481) of dress is provided with the Buffer Unit (49) buffered to limited block (443) on the limited post (47), The Buffer Unit (49) include the dashpot (471) being provided on limited post (47), sliding be connected in dashpot (471) and The buffering fuse (491) and driving buffering fuse (491) to offset with limited block (443) has always to be opened to dashpot (471) The buffer (492) of mouth direction mobile trend, the buffer (492) has towards one end of limited block (443) and buffering core The abutting column (493) that sub (491) offset offers the perforation passed through for buffer (492), institute on the mounting table (481) It states buffer (492) and is threaded in the two sides of mounting table (481) and buffer (492) is fixed on limit base (48) Two locking nuts (494), limited post (47) end are installed with the connection that limited post (47) is installed in buffer (492) Nut (495).