CN209304582U - A kind of hardware processing manipulator for preventing from causing workpiece damage - Google Patents

Abstract

The hardware processing manipulator that damage is caused to workpiece can be prevented the utility model relates to one kind, including basal disc and two joint arms, the inside of the basal disc is equipped with base servo motor, and the upper end linking of basal disc has base bearing, the upper end of the base bearing is mounted with tray, and the upper end of tray is connected with section linkage bearing, a section servo motor is installed on the left of the one section linkage bearing, and one section linkage bearing upper end linking have a joint arm, a joint arm is connected with arranging box on the outside of middle section.The beneficial effects of the utility model are: the hardware processing manipulator that can prevent from causing workpiece damage, it is provided with outlet conduit and spray head, water can be added to arranging box by water storage mouth, and passes through and install micro pump in arranging box, it can facilitate and water flow is delivered to spray head by outlet conduit spray, consequently facilitating cooling down to the hardware of movable hand clamping, process operation is preferably carried out convenient for hardware.

Description

A kind of hardware processing manipulator for preventing from causing workpiece damage

Technical field

The present invention relates to manipulator technical field, specially a kind of hardware processing that can prevent from causing workpiece damage Use manipulator.

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, feature is that various expected operations can be completed by programming, on construction and performance Have the advantage of people and robotics respectively concurrently.

A kind of hardware processing use disclosed in 106238558 A of Chinese invention patent application prospectus CN Mechanical arm, a kind of hardware processing mechanical arm, although preheating device can be first passed through to the zero of required processing Part is preheated, then is carried out accurate molding, punching to part by stamping device and kept away to improve the production efficiency of part Exempt from waste of material, but some process need cooling to handle, such as polishing, drilling and cutting, admittedly it can not be to hardware material Carry out cooling processing, while the flying chip that the processing generates also easily causes to damage to people or processing platform, and when manipulator into Also easily hardware is caused to damage when row clamping, it is not safe enough to there is a problem of that apparatus body uses.

Summary of the invention

The hardware processing manipulator that damage is caused to workpiece can be prevented the purpose of the present invention is to provide one kind, with It solves mentioned above in the background art one disclosed in 106238558 A of Chinese invention patent application prospectus CN Kind hardware processing mechanical arm, a kind of hardware processing mechanical arm, although preheating device can be first passed through The part of required processing is preheated, then accurate molding, punching are carried out to part by stamping device, to improve zero The production efficiency of part avoids waste of material, but some process need cooling to handle, such as polishing, drilling and cutting, Gu Cooling processing can not be carried out to hardware material, while the flying chip that the processing generates also easily causes to damage to people or processing platform, And when manipulator also easily causes to damage when being clamped to hardware, it is not safe enough to there is a problem of that apparatus body uses.

To achieve the above object, the invention provides the following technical scheme: a kind of hardware that can prevent from causing workpiece damage Part processing uses manipulator, including basal disc and two joint arms, the inside of the basal disc to be equipped with base servo motor, and the upper end of basal disc Linking has base bearing, and the upper end of the base bearing is mounted with tray, and the upper end of tray is connected with section linkage bearing, institute It states and a section servo motor is installed on the left of section linkage bearing, and the upper end linking of section linkage bearing has a joint arm, it is described Arranging box, and the water storage mouth that the upper end of arranging box is provided with are connected on the outside of one joint arm middle section, the lower end of the arranging box connects It is connected to outlet conduit, the top linking of the outlet conduit has spray head, and the inner wall of the arranging box is mounted with chamber interior wall, and in case It is to be fixedly connected between wall and arranging box and a joint arm, two sections linkage bearing is installed in the middle part of two joint arm bottom end, and Two joint arms are located at the top of a joint arm, and the outside linking of the two sections linkage bearing has linkage chain, and the top for the chain that links It is mounted with two section servo motors.

Preferably, the tray constitutes rotational structure by section linkage bearing and a joint arm, and a joint arm passes through one It saves servo motor and section linkage bearing constitutes drive mechanism, and a joint arm is made up of two sections linkage bearing and two joint arms and revolves Rotation structure, and two joint arms constitute drive mechanism by linkage chain and two section servo motors.

Preferably, the middle part outer wall of a joint arm and the inner wall of arranging box are cylindrical-shaped structure, and arranging box includes Water storage mouth, outlet conduit and chamber interior wall, and spray head constitutes connectivity structure by outlet conduit and arranging box, and chamber interior wall is Metal material.

Preferably, it is fixed with center separate seat in the middle part of two joint arm, and is fixed company between two joint arms and center separate seat It connects, the center separate seat is internally provided with a room, and two joint arm top is internally provided with movable servo motor, and activity The top linking of servo motor has transmission gear, linking groove wall is provided on the outside of the transmission gear, and be connected groove wall Outside be mounted with movable hand, the movable hand is fixedly connected with being connected between groove wall, the bottom end connection of the movable hand There is live bearing, and the outside linking of movable hand flanks holder

Preferably, the movable servo motor constitutes drive mechanism by transmission gear and linking groove wall and movable hand, And movable hand constitutes rotational structure, and the water of the horizontal median axis of two joint arms and center separate seat by live bearing and two joint arms Flat central axes coincide.

Preferably, described flank is equipped with hydraulic cylinder in the middle part of holder, and flanking between holder and hydraulic cylinder is fixed company It connects, the top linking of the hydraulic cylinder has hydraulic stem, and wears groove is provided on the outside of hydraulic stem top, and the outside of the wears groove is solid Surely there is an outer cover, the outer wall on the hydraulic stem top is connected with an inner cover, and the left and right ends of seat inner cover are mounted on outer fixation Screw.

Preferably, the holder that flanks passes through hydraulic cylinder and hydraulic stem and seat inner cover composition lifting structure, and hydraulic stem Slide construction is constituted by wears groove and seat outer cover, and nut fastens between seat outer cover and interior slide.

Preferably, interior fixed screw is provided on the outside of the outer fixed screw, and the bottom end linking of interior fixed screw has Interior slide, is provided with slide interior room in the middle part of the interior slide, and the bottom end of slide interior room is mounted with pressure sensor, it is described in A sliding slot is provided on the outside of slide, and the outer wall linking of interior slide has connection strip, sets on the outside of the connection strip top It is equipped with connects bayonet socket, and the inside for connecting strip top is provided through default perforation, is fixed with clamp hand on the outside of the bayonet.

Preferably, the interior slide includes slide interior room, pressure sensor, seat inner cover, outer fixed screw and interior fixed spiral shell Silk, and seat inner cover is fixedly connected by outer fixed screw with hydraulic stem composition, and seat inner cover passes through interior fixed screw and interior cunning Seat is constituted and is fixedly connected, and to be welded to connect between interior slide and connection strip, while default perforation is about connection strip Center is distributed in a ring, and the top of the clamp hand is arcuate structure, and the bottom end of clamp hand and top end surface are rubber material.

Compared with prior art, beneficial effects of the present invention are as follows:

1, the present invention by basal disc, base servo motor, base bearing, tray, a section link bearing, a section servo motor and The setting of one joint arm by the base servo motor top shape assembling gear installed in basal disc, and is opened in the inside of tray bottom end If the groove wall to match with gear insection structure, it can be driven tray by the work of base servo motor, and pass through base The rotation of bearing can allow tray to carry out rotation adjusting, facilitate manipulator to carry out horizontal rotation adjusting, while watching by a section It takes motor and two section servo motors works respectively, can be carried out to control section linkage bearing and two sections linkage bearing respectively Rotation, to be operated to regulate and control a joint arm and two joint arms, in order to carry out hardware process operation.

2, the present invention is by the setting of arranging box, water storage mouth, outlet conduit and spray head, by water storage mouth can to arranging box come Add water, and pass through and install micro pump in arranging box, can facilitate and water flow is delivered to spray head by outlet conduit spray It penetrates, consequently facilitating cooling down to the hardware of movable hand clamping, preferably carries out process operation convenient for hardware.

3, the present invention passes through movable servo motor, transmission gear, the setting for being connected groove wall, movable hand and live bearing, It by the work of movable servo motor, can be rotated with nutating gear, to be movable hand by linking groove wall Rotation provides an abundant power, and by the rotation of live bearing, then it is adjusted by rotation the position of movable hand, and can pass through Center separate seat installs circuit, improves the convenient performance of manipulator.

4, the present invention passes through the work of hydraulic cylinder and hydraulic stem by flanking holder, hydraulic cylinder, hydraulic stem and the setting of wears groove Make, an inner cover can be driven to carry out lifting running, to be slided in the present sliding slot of slide in pushing, is adjusted with reaching manipulation The purpose of clamp hand, while seat outer cover being screwed onto the outside of movable hand, can facilitate and dismantle to seat outer cover, in order to by seat The pressure sensor and assembly sensing circuit of installation model QLMH-P is opened and internally carried out in slide to outer cover, thus convenient pair Pressure in two pieces between slide is monitored, and is prevented excessive pressure and is crushed hardware material.

5, the present invention by interior slide, slide interior room, pressure sensor, seat sliding slot, connection strip, connects bayonet socket, preset The setting of perforation and clamp hand is conveniently loaded and unloaded between hydraulic stem and seat inner cover by outer fixed screw, and passes through fixation Screw can be loaded and unloaded conveniently between seat inner cover, be carried out convenient for opening slide interior room to its inside electric appliance and circuit Maintenance penetrates connects bayonet socket by that will connect strip, and by default perforation come the fixing bolt that is spirally connected, consequently facilitating will even It connects together with the fixation of strip and connects bayonet socket tightly, simultaneously because to be equipped with four be distributed in a ring pre- for the inside of connection strip If perforation, the constant bearing for the connection strip that rotation can be facilitated to adjust in connects bayonet socket, consequently facilitating rotation adjusts clamp hand Orientation when such as needing clamped flat, then clamp hand bottom end is fixed relatively, when if you need to clamp arc hardware, then by clamp hand Top is opposite and is fixed, and improves flexibility when manipulator clamping.

Detailed description of the invention

Fig. 1 is that one kind of the present invention can prevent the structural representation that the hardware processing manipulator of damage is caused to workpiece Figure；

Fig. 2 is that one kind of the present invention can prevent a joint arm and case that the hardware processing manipulator of damage is caused to workpiece Inner wall attachment structure schematic diagram；

Fig. 3 be the hardware processing manipulator that one kind of the present invention can prevent from causing workpiece damage transmission gear with It is connected groove wall attachment structure schematic diagram；

Fig. 4 is that one kind of the present invention can prevent from causing workpiece inside the seat sliding slot of the hardware processing manipulator of damage Structural schematic diagram；

Fig. 5 is that one kind of the present invention can prevent from putting at A in the Fig. 1 for the hardware processing manipulator for causing workpiece damage Big structure schematic diagram.

In figure: 1, basal disc；2, base servo motor；3, base bearing；4, tray；5, section linkage bearing；6, a section servo Motor；7, a joint arm；8, arranging box；9, water storage mouth；10, outlet conduit；11, spray head；12, chamber interior wall；13, two joint arm；14, two Section linkage bearing；15, link chain；16, two section servo motor；17, center separate seat；18, seat room；19, movable servo motor； 20, transmission gear；21, it is connected groove wall；22, movable hand；23, live bearing；24, holder is flanked；25, hydraulic cylinder；26, hydraulic Bar；27, wears groove；28, seat outer cover；29, seat inner cover；30, outer fixed screw；31, interior fixed screw；32, interior slide；33, slide Interior room；34, pressure sensor；35, seat sliding slot；36, strip is connected；37, connects bayonet socket；38, perforation is preset；39, clamp hand.

Specific embodiment

Following will be combined with the drawings in the embodiments of the present invention, and technical solution in the embodiment of the present invention carries out clear, complete Site preparation description, it is clear that described embodiments are only a part of the embodiments of the present invention, instead of all the embodiments.

In the description of the present invention, unless otherwise indicated, the meaning of " plurality " is two or more；Term " on ", The orientation or positional relationship of the instructions such as "lower", "left", "right", "inner", "outside", " front end ", " rear end ", " head ", " tail portion " is It is based on the orientation or positional relationship shown in the drawings, is merely for convenience of description of the present invention and simplification of the description, rather than instruction or dark Show that signified device or element must have a particular orientation, be constructed and operated in a specific orientation, therefore should not be understood as pair Limitation of the invention.In addition, term " first ", " second ", " third " etc. are used for description purposes only, and should not be understood as instruction or Imply relative importance.

In the description of the present invention, it should be noted that unless otherwise clearly defined and limited, term " connected " " connects Connect " it shall be understood in a broad sense, for example, it may be being fixedly connected, it may be a detachable connection, or be integrally connected；It can be machine Tool connection, is also possible to be electrically connected；It can be directly connected, it can also be indirectly connected through an intermediary.For this field For those of ordinary skill, the concrete meaning of above-mentioned term in the present invention can be understood with concrete condition.

Please refer to Fig. 1-5, the present invention provides a kind of technical solution: one kind can prevent the hardware that damage is caused to workpiece Processing manipulator, including basal disc 1, base servo motor 2, base bearing 3, tray 4, a section linkage bearing 5, a section servo motor 6, a joint arm 7, arranging box 8, water storage mouth 9, outlet conduit 10, spray head 11, chamber interior wall 12, two joint arms 13, two sections linkage bearing 14, Link chain 15, two section servo motors 16, center separate seat 17, seat room 18, movable servo motor 19, transmission gear 20, linking tooth Line wall 21, movable hand 22, live bearing 23, flank holder 24, hydraulic cylinder 25, hydraulic stem 26, wears groove 27, seat outer cover 28, in seat Lid 29, outer fixed screw 30, interior fixed screw 31, interior slide 32, slide interior room 33, pressure sensor 34, seat sliding slot 35, connection Strip 36, connects bayonet socket 37, default perforation 38 and clamp hand 39, the inside of basal disc 1 is equipped with base servo motor 2, and basal disc 1 is upper End linking has base bearing 3, and the upper end of base bearing 3 is mounted with tray 4, and the upper end of tray 4 is connected with section linkage bearing 5, tray 4 constitutes rotational structure by link bearing 5 and a joint arm 7 of a section, and a joint arm 7 by a section servo motor 6 and One section linkage bearing 5 constitutes drive mechanism, and a joint arm 7 is made up of two sections linkage bearing 14 and two joint arms 13 and rotates knot Structure, and two joint arms 13 constitute drive mechanism by linkage chain 15 and two section servo motors 16, pass through the base installed in basal disc 1 2 top shape assembling gear of servo motor, and the groove to match with gear insection structure is opened up in the inside of 4 bottom end of tray Wall, can be driven tray 4 by the work of base servo motor 2, and pass through the rotation of base bearing 3, can allow tray 4 into Row rotation is adjusted, and facilitates manipulator to carry out horizontal rotation adjusting, while dividing by a section servo motor 6 and two section servo motors 16 It does not work, can be rotated to control section linkage bearing 5 and two sections linkage bearing 14 respectively, thus to regulate and control a section Arm 7 and two joint arms 13 are operated, and in order to carry out hardware process operation, the left side of section linkage bearing 5 is equipped with a section Servo motor 6, and the upper end linking of section linkage bearing 5 has a joint arm 7, the middle part outer wall of a joint arm 7 and the inner wall of arranging box 8 It is cylindrical-shaped structure, and arranging box 8 includes water storage mouth 9, outlet conduit 10 and chamber interior wall 12, and spray head 11 passes through outlet pipe Road 10 and arranging box 8 constitute connectivity structure, and chamber interior wall 12 is metal material, can be added to arranging box 8 by water storage mouth 9 Water, and pass through and install micro pump in arranging box 8, it can facilitate and water flow is delivered to spray head 11 by outlet conduit 10 carry out Injection preferably carries out process operation, a joint arm 7 consequently facilitating the hardware clamped to movable hand 22 cools down convenient for hardware Arranging box 8 is connected on the outside of middle section, and the water storage mouth 9 that the upper end of arranging box 8 is provided with, the lower end of arranging box 8 are connected with out The top linking of waterpipe 10, outlet conduit 10 has spray head 11, and the inner wall of arranging box 8 is mounted with chamber interior wall 12, and chamber interior wall 12 It is to be fixedly connected between arranging box 8 and a joint arm 7, two sections linkage bearing 14 is installed in the middle part of two joint arms, 13 bottom end, and Two joint arms 13 are located at the top of a joint arm 7, and the middle part of two joint arms 13 is fixed with center separate seat 17, and two joint arms 13 and center separate seat To be fixedly connected between 17, center separate seat 17 is internally provided with a room 18, and the activity that is internally provided on two joint arms, 13 top is watched Motor 19 is taken, and the top linking of movable servo motor 19 has transmission gear 20, the outside of transmission gear 20 is provided with linking tooth Line wall 21, and the outside for being connected groove wall 21 is mounted with movable hand 22, movable hand 22 with to be connected be fixed company between groove wall 21 It connects, the bottom end of movable hand 22 is connected with live bearing 23, and the outside linking of movable hand 22 flanks holder 24, activity servo electricity Machine 19 constitutes drive mechanism by transmission gear 20 and linking groove wall 21 and movable hand 22, and movable hand 22 passes through live bearing 23 and two joint arm 13 constitute rotational structure, and the horizontal median axis of two joint arms 13 is mutually be overlapped with the horizontal median axis of center separate seat 17 It closes, by the work of movable servo motor 19, can be rotated with nutating gear 20, to be by linking groove wall 21 The rotation of movable hand 22 provides an abundant power, and passes through the rotation of live bearing 23, then is adjusted by rotation movable hand 22 Position, and circuit can be installed by center separate seat 17, improve the convenient performance of manipulator, flank the middle part installation of holder 24 There is hydraulic cylinder 25, and flanks to be fixedly connected between holder 24 and hydraulic cylinder 25, the top linking of hydraulic cylinder 25 has hydraulic stem 26, And wears groove 27 is provided on the outside of 26 top of hydraulic stem, the outside of wears groove 27 is fixed with an outer cover 28,26 top of hydraulic stem it is outer Wall is connected with an inner cover 29, and the left and right ends of seat inner cover 29 are mounted on outer fixed screw 30, flanks holder 24 by hydraulic Cylinder 25 and hydraulic stem 26 and seat inner cover 29 constitute lifting structure, and hydraulic stem 26 is made up of wears groove 27 and seat outer cover 28 and slides Structure, and nut fastens between seat outer cover 28 and interior slide 32, by the work of hydraulic cylinder 25 and hydraulic stem 26, can drive Seat inner cover 29 carries out lifting running, is slided in sliding slot 35 so that the interior slide 32 of promotion is present, adjusts clamp hand to reach manipulation 39 purpose, while seat outer cover 28 being screwed onto the outside of movable hand 22, it can facilitate and seat outer cover 28 is dismantled, in order to Seat outer cover 28 is opened and is internally carried out in slide 32 pressure sensor 34 and assembly sensing circuit of installation model QLMH-P, Pressure between slide 32 in two pieces is monitored to convenient, excessive pressure is prevented and crushes hardware material, outer fixed spiral shell The outside of silk 30 is provided with interior fixed screw 31, and the bottom end linking of interior fixed screw 31 has an interior slide 32, in interior slide 32 Portion is provided with slide interior room 33, and the bottom end of slide interior room 33 is mounted with pressure sensor 34, and the outside of interior slide 32 is provided with Seat sliding slot 35, and the outer wall linking of interior slide 32 has connection strip 36, connects and is provided with connects bayonet socket on the outside of 36 top of strip 37, and the inside for connecting 36 top of strip is provided through default perforation 38, the outside of bayonet 37 is fixed with clamp hand 39, interior slide 32 include slide interior room 33, pressure sensor 34, seat inner cover 29, outer fixed screw 30 and interior fixed screw 31, and seat inner cover 29 It is fixedly connected by outer fixed screw 30 with the composition of hydraulic stem 26, and seat inner cover 29 passes through interior fixed screw 31 and interior slide 32 Composition is fixedly connected, and to be welded to connect between interior slide 32 and connection strip 36, while default perforation 38 is about connection card The center of item 36 is distributed in a ring, and the top of clamp hand 39 is arcuate structure, and the bottom end of clamp hand 39 and top end surface are rubber Material is conveniently loaded and unloaded between hydraulic stem 26 and seat inner cover 29 by outer fixed screw 30, and passes through fixed screw 31 It can conveniently load and unload between seat inner cover 29, its inside electric appliance and circuit are carried out convenient for opening slide interior room 33 Maintenance penetrates connects bayonet socket 37 by that will connect strip 36, and perforates 38 come the fixing bolt that is spirally connected, thus just by default In that will connect together with the fixation of strip 36 and connects bayonet socket 37 tightly, simultaneously because the inside of connection strip 36 is equipped in a ring The default perforation 38 of four of distribution, the constant bearing for the connection strip 36 that rotation can be facilitated to adjust in connects bayonet socket 37, thus The orientation that clamp hand 39 is adjusted convenient for rotation when such as needing clamped flat, then 39 bottom end of clamp hand is fixed relatively, if you need to press from both sides When holding arc hardware, then 39 top of clamp hand is fixed relatively, improves flexibility when manipulator clamping, two section universal driving shafts Holding 14 outside linking has linkage chain 15, and the top for the chain 15 that links is mounted with two section servo motors 16.

To sum up, hardware processing manipulator that can prevent from causing workpiece damage, in use, by basal disc 1 The 2 top shape assembling gear of base servo motor of installation, and open up in the inside of 4 bottom end of tray and match with gear insection structure Groove wall, can be driven tray 4 by the work of base servo motor 2, and pass through the rotation of base bearing 3, can allow and hold It connects disk 4 and carries out rotation adjusting, facilitate manipulator to carry out horizontal rotation adjusting, while passing through a section servo motor 6 and two section servos Motor 16 works respectively, can be rotated to control section linkage bearing 5 and two sections linkage bearing 14 respectively, to come Regulate and control a joint arm 7 and two joint arms 13 are operated, in order to carry out hardware process operation, and by water storage mouth 9 can be to placement Case 8 adds water, and passes through and install micro pump in arranging box 8, can facilitate and water flow is delivered to spray by outlet conduit 10 First 11 are sprayed, consequently facilitating the hardware clamped to movable hand 22 cools down, preferably carry out process operation convenient for hardware, And by the work of movable servo motor 19, it can be rotated with nutating gear 20, to be by linking groove wall 21 The rotation of movable hand 22 provides an abundant power, and passes through the rotation of live bearing 23, then is adjusted by rotation movable hand 22 Position, and circuit can be installed by center separate seat 17, improve the convenient performance of manipulator, can also pass through hydraulic cylinder 25 and liquid The work of compression bar 26 can drive an inner cover 29 to carry out lifting running, be slided in sliding slot 35 so that the interior slide 32 of promotion is present It is dynamic, to achieve the purpose that manipulation adjusts clamp hand 39, while seat outer cover 28 being screwed onto the outside of movable hand 22, can facilitated to seat Outer cover 28 is dismantled, in order to which the pressure opened seat outer cover 28 and internally carry out installation model QLMH-P in slide 32 passes Sensor 34 and assembly sensing circuit, are monitored the pressure between slide 32 in two pieces thus convenient, prevent excessive pressure and It crushes hardware material, while conveniently being loaded and unloaded between hydraulic stem 26 and seat inner cover 29 by outer fixed screw 30, and lead to Crossing fixed screw 31 can conveniently load and unload between seat inner cover 29, electric to its inside convenient for opening slide interior room 33 Device and circuit carry out maintenance, penetrate connects bayonet socket 37 by that will connect strip 36, and be spirally connected admittedly by default perforation 38 Bolt is determined, consequently facilitating will connect together with the fixation of strip 36 and connects bayonet socket 37 tightly, simultaneously because connection strip 36 is interior Portion is equipped with the default perforation 38 of four be distributed in a ring, can facilitate the connection strip 36 in rotation adjusting connects bayonet socket 37 Constant bearing, consequently facilitating rotation adjusts the orientation of clamp hand 39, when such as needing clamped flat, then by 39 bottom end of clamp hand it is opposite and into Row is fixed, when if you need to clamp arc hardware, then 39 top of clamp hand is opposite and be fixed, flexible when improving manipulator clamping Property.

The foregoing is only a preferred embodiment of the present invention, but scope of protection of the present invention is not limited thereto, Anyone skilled in the art in the technical scope disclosed by the present invention, according to the technique and scheme of the present invention and its Inventive concept is subject to equivalent substitution or change, should be covered by the protection scope of the present invention.

Claims (9)

1. one kind can prevent the hardware processing manipulator that damage is caused to workpiece, including basal disc (1) and two joint arms (13), It is characterized by: the inside of the basal disc (1) is equipped with base servo motor (2), and the upper end linking of basal disc (1) has base bearing (3), the upper end of the base bearing (3) is mounted with tray (4), and the upper end of tray (4) is connected with section linkage bearing (5), a section servo motor (6), and the upper end rank of section linkage bearing (5) are installed on the left of section linkage bearing (5) It is connected to a joint arm (7), is connected with arranging box (8) on the outside of a joint arm (7) middle section, and the upper end of arranging box (8) is provided with Water storage mouth (9), the lower end of the arranging box (8) is connected with outlet conduit (10), the top linking of the outlet conduit (10) Have spray head (11), the inner wall of the arranging box (8) is mounted with chamber interior wall (12), and chamber interior wall (12) and arranging box (8) He Yijie Arm is to be fixedly connected between (7), and two sections linkage bearing (14), and two joint arms are equipped in the middle part of two joint arm (13) bottom end (13) it is located at the top of a joint arm (7), the outside linking of two sections linkage bearing (14) has linkage chain (15), and the chain that links The top of item (15) is mounted with two section servo motors (16).

2. one kind according to claim 1 can prevent the hardware processing manipulator for causing damage to workpiece, special Sign is: the tray (4) constitutes rotational structure by section linkage bearing (5) and a joint arm (7), and a joint arm (7) is logical It crosses a section servo motor (6) and section linkage bearing (5) constitutes drive mechanism, and a joint arm (7) passes through two sections linkage bearing (14) rotational structure is constituted with two joint arms (13), and two joint arms (13) pass through linkage chain (15) and two section servo motors (16) Constitute drive mechanism.

3. one kind according to claim 1 can prevent the hardware processing manipulator for causing damage to workpiece, special Sign is: the middle part outer wall of a joint arm (7) and the inner wall of arranging box (8) are cylindrical-shaped structure, and arranging box (8) includes Water storage mouth (9), outlet conduit (10) and chamber interior wall (12), and spray head (11) passes through outlet conduit (10) and arranging box (8) structure At connectivity structure, and chamber interior wall (12) is metal material.

4. one kind according to claim 1 can prevent the hardware processing manipulator for causing damage to workpiece, special Sign is: being fixed with center separate seat (17) in the middle part of two joint arm (13), and between two joint arms (13) and center separate seat (17) To be fixedly connected, the center separate seat (17) is internally provided with a room (18), the inside setting on two joint arm (13) top Have movable servo motor (19), and the top linking of movable servo motor (19) has transmission gear (20), the transmission gear (20) it is provided with linking groove wall (21) on the outside of, and is connected on the outside of groove wall (21) and is mounted with movable hand (22), the work Start (22) be connected between groove wall (21) to be fixedly connected, the bottom end of the movable hand (22) is connected with live bearing (23), and the linking of the outside of movable hand (22) flanks holder (24).

5. one kind according to claim 4 can prevent the hardware processing manipulator for causing damage to workpiece, special Sign is: the activity servo motor (19) is made up of transmission gear (20) and linking groove wall (21) and movable hand (22) and passes Dynamic structure, and movable hand (22) constitutes rotational structure by live bearing (23) and two joint arms (13), and two joint arms (13) Horizontal median axis and the horizontal median axis of center separate seat (17) coincide.

6. one kind according to claim 4 can prevent the hardware processing manipulator for causing damage to workpiece, special Sign is: described flank is equipped with hydraulic cylinder (25) in the middle part of holder (24), and flanks between holder (24) and hydraulic cylinder (25) To be fixedly connected, the top linking of the hydraulic cylinder (25) has hydraulic stem (26), and is provided on the outside of hydraulic stem (26) top Wears groove (27) is fixed with an outer cover (28) on the outside of the wears groove (27), and the outer wall on hydraulic stem (26) top is connected with seat Inner cover (29), and the left and right ends of seat inner cover (29) are mounted on outer fixed screw (30).

7. one kind according to claim 6 can prevent the hardware processing manipulator for causing damage to workpiece, special Sign is: described flank holder (24) pass through hydraulic cylinder (25) and hydraulic stem (26) and seat inner cover (29) composition lifting structure, and And hydraulic stem (26) constitutes slide construction by wears groove (27) and seat outer cover (28), and seat outer cover (28) and interior slide (32) it Between nut fasten.

8. one kind according to claim 6 can prevent the hardware processing manipulator for causing damage to workpiece, special Sign is: being provided with interior fixed screw (31) on the outside of the outer fixed screw (30), and the bottom end rank of interior fixed screw (31) It is connected to interior slide (32), is provided with slide interior room (33) in the middle part of the interior slide (32), and the bottom end peace of slide interior room (33) It is equipped with pressure sensor (34), is provided with a sliding slot (35) on the outside of the interior slide (32), and the outer wall rank of interior slide (32) It is connected to connection strip (36), is provided with connects bayonet socket (37) on the outside of connection strip (36) top, and connects strip (36) The inside on top is provided through default perforation (38), is fixed with clamp hand (39) on the outside of the bayonet (37).

9. one kind according to claim 8 can prevent the hardware processing manipulator for causing damage to workpiece, special Sign is: the interior slide (32) includes slide interior room (33), pressure sensor (34), seat inner cover (29), outer fixed screw (30) and interior fixed screw (31), and seat inner cover (29) is fixedly connected by outer fixed screw (30) with hydraulic stem (26) composition, And seat inner cover (29) is fixedly connected by interior fixed screw (31) and interior slide (32) composition, and interior slide (32) with connect To be welded to connect between strip (36), while default perforation (38) is distributed in a ring about the center of connection strip (36), described The top of clamp hand (39) is arcuate structure, and the bottom end of clamp hand (39) and top end surface are rubber material.