CN107762132B

CN107762132B - Side-swinging mechanical arm and use method thereof

Info

Publication number: CN107762132B
Application number: CN201711064054.4A
Authority: CN
Inventors: 沈海晏; 吕光利; 张维贵; 钟建都; 郝允郎; 周金
Original assignee: Shenzhen Techen Technology Co Ltd
Current assignee: Shenzhen Techen Technology Co Ltd
Priority date: 2017-11-02
Filing date: 2017-11-02
Publication date: 2020-02-04
Anticipated expiration: 2037-11-02
Also published as: CN107762132A

Abstract

The invention discloses a side-swinging mechanical arm and a using method thereof, wherein the side-swinging mechanical arm comprises a plurality of mechanical arms and two guide rails matched with each other in a sliding way, at least one mechanical arm is fixedly attached to each guide rail along the height direction of the guide rail, the mechanical arms can be switched between an opening state vertical to the periphery of a building and a tightening state parallel to the periphery of the building through rotation in a horizontal plane, the mechanical arms can be matched and fixed with climbing points when swinging to the opening state, and the mechanical arms can be withdrawn from the climbing points when swinging to the tightening state; when climbing, the two guide rails alternately slide up and down to execute the following climbing operation: and withdrawing the manipulator on the guide rail from the current climbing point, moving the guide rail to the position of the target climbing point, and then fixing the manipulator on the guide rail and the target climbing point in a matching manner. The climbing operation can be alternately executed through the two guide rails, so that the climbing operation can be realized on the periphery of a building, the labor intensity of workers is reduced, the construction efficiency is greatly improved, and a large amount of labor force is saved.

Description

Side-swinging mechanical arm and use method thereof

Technical Field

The invention relates to the field of building crawling mechanisms, in particular to a side-swinging mechanical arm and a using method thereof.

Background

High-rise buildings in cities are more and more, at present, a lot of manual work is needed to do auxiliary work in a lot of high-rise construction lifting platforms, for example, the manual work is carried out to carry heavy parts such as guide seats, hoists, hoisting point supports and the like to go upstairs and downstairs, the labor intensity of workers is increased, the construction cost is increased, and the construction efficiency is low. At present arm in the construction, if meet the wall body irregularity or have the board of choosing, balcony etc. and be not convenient for set up and attach the wall support, the arm can not step on, need attach a piece of bed hedgehopping in building structure's position, makes the arm step on this overhanging piece that increases, and this kind of mode work load is big, and intensity of labour is high, and is with high costs and unsafe.

Disclosure of Invention

The present invention provides a side-swinging type mechanical arm and a method for using the same, which are directed to overcome the above-mentioned drawbacks of the prior art.

The technical scheme adopted by the invention for solving the technical problems is as follows: constructing a side-swinging mechanical arm, which comprises a plurality of mechanical hands and two guide rails matched with each other in a sliding way, wherein each guide rail is fixedly attached with at least one mechanical hand along the height direction of the guide rail, the mechanical hands can be switched between an open state vertical to the periphery of a building and a tightening state parallel to the periphery of the building through rotation in a horizontal plane, and the mechanical hands can be matched and fixed with a climbing point when swinging to the open state and can be withdrawn from the climbing point when swinging to the tightening state;

when climbing, the two guide rails alternately slide up and down to execute the following climbing operation: and withdrawing the manipulator on the guide rail from the current climbing point, moving the guide rail to the position of the target climbing point, and then fixing the manipulator on the guide rail and the target climbing point in a matching manner.

In the side-swinging mechanical arm, a mutual buckling anti-tilting structure is arranged between each mechanical arm and the climbing point, each guide rail is provided with an electric push rod mechanism which is connected with the corresponding mechanical arm to drive the mechanical arm to rotate in a horizontal plane, or each mechanical arm comprises an electric rotating mechanism, a hydraulic rotating mechanism or a manual rotating mechanism which drives the mechanical arm to rotate. (ii) a

Two guide rails divide into interior guide rail and outer guide rail, the manipulator divide into to adhere to and is fixed in interior manipulator of interior guide rail is fixed in with adhering to the outer manipulator of outer guide rail, interior guide rail is provided with the installation along its direction of height interior manipulator mounting rail of interior manipulator, outer guide rail is provided with slide rail and installation along its direction of height outer manipulator mounting rail of outer manipulator, interior guide rail with the slide rail cup joints, just interior manipulator mounting rail with outer manipulator mounting rail sets up side by side.

In the side-swinging mechanical arm, the inner guide rail comprises a sliding part and two inner rail parts perpendicular to the sliding part, the two inner rail parts are arranged on the sliding part in parallel as the inner mechanical arm mounting rails, a certain distance is arranged between the two inner rail parts, the electric push rod mechanism is arranged on the outer side of one inner rail part, far away from the outer guide rail, of the two inner rail parts, and each inner rail part is provided with a plurality of inner mechanical arm mounting holes for fixing the inner mechanical arm along the height direction of the inner rail part.

In the side-swinging mechanical arm, the outer guide rail comprises two main body parts which are oppositely arranged, a group of sliding grooves are arranged on the opposite front surfaces of the two main body parts in a mirror image mode, the sliding grooves are used as the sliding rails for being sleeved with the inner guide rail, two outer rail parts are arranged on the side edge of the main body part in a vertical mode and in a mirror image mode, the two outer rail parts are used as the outer manipulator mounting rails and are arranged on the side edge of the main body part in parallel, a certain distance is reserved between the two outer rail parts, the electric push rod mechanism is arranged on the outer side of one outer rail part, far away from the inner guide rail, of the two outer rail parts, and each outer rail part is provided with a plurality of outer manipulator mounting holes for fixing the.

In the side-swinging mechanical arm, one side of the outer guide rail, which is far away from the outer rail part, is provided with a plurality of outer guide rail fixing holes connected with the lifting device from top to bottom.

In the side-swinging mechanical arm, the inner mechanical arm and the outer mechanical arm both comprise a mechanical seat fixed with the corresponding inner mechanical arm mounting rail/outer mechanical arm mounting rail and a rotating arm rotatably mounted on the mechanical seat, and a rotating shaft of the rotating arm is parallel to the inner mechanical arm mounting rail and the outer mechanical arm mounting rail.

In the side-swinging mechanical arm, the mechanical seat comprises a rectangular fixing part arranged in an inner mechanical arm mounting rail/an outer mechanical arm mounting rail and a rotating mechanism connected with the side edge of the fixing part, the rotating mechanism is an electric rotating mechanism, a hydraulic rotating mechanism or a manual rotating mechanism, a rotating shaft connected with the rotating arm is arranged below the rotating mechanism, and the central shaft of the rotating shaft is parallel to the inner mechanical arm mounting rail/the outer mechanical arm mounting rail.

In the side-swinging mechanical arm, the rotating arm comprises a plane part sleeved on the rotating shaft and a bending part bent downwards from the plane part, and the plane part is provided with a fixing hole matched with the rotating shaft.

In the side-swinging mechanical arm, the plane part comprises a limiting right angle positioned at the inner side and an arc corner positioned at the outer side, and the rotating arm drives the arc corner to roll on the mechanical seat when rotating;

when the manipulator needs to be swung to an open state, the rotating arm of the manipulator can be rotated inwards to the limiting right angle to be abutted against the mechanical seat; when the manipulator needs to be swung to a tightening state, the rotating arm can be rotated outwards.

The invention also discloses a use method of the side-swinging mechanical arm, which comprises the following steps:

s0, swinging the manipulators on the two guide rails to an open state vertical to the periphery of the building, matching and fixing with a climbing point, and alternately executing the steps S1 and S2 when climbing upwards or downwards;

s1, swinging all the mechanical hands on one of the guide rails to a tightening state parallel to the periphery of the building so as to withdraw from the current climbing point, moving the guide rail to the position of the target climbing point, swinging all the mechanical hands on the guide rail to an opening state, and matching and fixing with the target climbing point;

and S2, swinging all the mechanical hands on the remaining one guide rail to a tightening state to withdraw from the current climbing point, moving the guide rail to the position of the target climbing point, swinging all the mechanical hands on the guide rail to an opening state, and fixing the mechanical hands in cooperation with the target climbing point.

The implementation of the side-swinging mechanical arm and the use method thereof has the following beneficial effects: the climbing operation can be performed by the two guide rails sliding up and down alternately, so that the climbing operation can be realized on the periphery of a building, the carrying of a guide seat of a high-rise construction lifting platform is reduced, the connection and disconnection work of attachment points of the high-rise construction lifting platform is reduced, the mechanization and automation level of building construction is improved, the labor intensity of workers is reduced, the construction efficiency is greatly improved, and a large amount of labor force is saved.

Drawings

In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly described below, it is obvious that the drawings in the following description are only embodiments of the present invention, and for those skilled in the art, other drawings can be obtained according to the provided drawings without creative efforts:

FIG. 1 is a schematic diagram of a preferred embodiment of a side-swinging robotic arm of the present invention;

FIG. 2 is a schematic structural view of the outer guide rail of FIG. 1;

FIG. 3 is a schematic structural view of the inner rail of FIG. 1;

FIG. 4 is an exploded view of the robot of FIG. 1;

FIG. 5 is a schematic diagram of another preferred embodiment of a side-swinging robot arm;

FIG. 6 is a schematic view of the configuration of the side-swinging mechanical arm in cooperation with a climbing point;

FIG. 7 is a first schematic diagram illustrating the operation of the preferred embodiment;

FIG. 8 is a second schematic diagram illustrating the operation of the preferred embodiment;

FIG. 9 is a third schematic diagram illustrating the operation of the preferred embodiment;

FIG. 10 is a fourth schematic diagram illustrating the operation of the preferred embodiment;

FIG. 11 is a fifth schematic illustration of the operation of the preferred embodiment;

fig. 12 is a sixth schematic diagram illustrating the operation of the preferred embodiment.

Detailed Description

To facilitate an understanding of the invention, the invention will now be described more fully with reference to the accompanying drawings. Exemplary embodiments of the invention are shown in the drawings. This invention may, however, be embodied in many different forms and should not be construed as limited to the embodiments set forth herein. Rather, these embodiments are provided so that this disclosure will be thorough and complete.

It will be understood that when an element is referred to as being "secured to" another element, it can be directly on the other element or intervening elements may also be present. When an element is referred to as being "connected" to another element, it can be directly connected to the other element or intervening elements may also be present. The terms "vertical," "horizontal," "left," "right," and the like as used herein are for illustrative purposes only.

Unless defined otherwise, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this invention belongs. The terminology used in the description of the invention herein is for the purpose of describing particular embodiments only and is not intended to be limiting of the invention.

The general idea of the invention is as follows: constructing a side-swinging mechanical arm, which comprises a plurality of mechanical hands and two guide rails matched with each other in a sliding way, wherein each guide rail is fixedly attached with at least one mechanical hand along the height direction of the guide rail, the mechanical hands can be switched between an opening state vertical to the periphery of a building and a tightening state parallel to the periphery of the building through rotation in a horizontal plane, the mechanical hands can be matched and fixed with a climbing point when swinging to the opening state, and can be withdrawn from the climbing point when swinging to the tightening state;

when climbing, the two guide rails alternately slide up and down to execute the following climbing operation: and withdrawing the manipulator on the guide rail from the current climbing point (namely the climbing point matched and fixed with the manipulator), and moving the guide rail to the position of the target climbing point to match and fix the manipulator on the guide rail with the target climbing point.

It is to be understood that the current climbing point, the target climbing point, of each manipulator is different, each manipulator having its own current climbing point, target climbing point.

In order to better understand the technical solutions, the technical solutions will be described in detail below with reference to the drawings and the specific embodiments of the specification, and it should be understood that the embodiments and specific features of the embodiments of the present invention are detailed descriptions of the technical solutions of the present application, and are not limited to the technical solutions of the present application, and the technical features of the embodiments and examples of the present invention may be combined with each other without conflict.

Referring to fig. 1, the side-swing type robot arm of the present invention includes an inner guide rail 1, an outer guide rail 2, an inner robot arm 3, and an outer robot arm 4. The inner guide rail 1 and the outer guide rail 2 are matched with each other in a sliding way. The inner guide rail 1 is fixedly attached with two inner manipulators 3 along the height direction of the inner guide rail, and the outer guide rail 2 is fixedly attached with two outer manipulators 4 along the height direction of the outer guide rail. The inner robot 3 and the outer robot 4 can be switched between an open state perpendicular to the building periphery and a tightened state parallel to the building periphery by rotation in the horizontal plane.

It is to be understood that the number of the inner manipulators 3 and the outer manipulators 4 is not limited, and may be set according to circumstances. The swinging of the inner manipulator 3 and the outer manipulator 4 may be controlled manually or electrically.

The top end and the bottom end of the inner guide rail 1 and the outer guide rail 2 are aligned when the inner manipulator and the outer manipulator are positioned, and the inner manipulator 3 and the outer manipulator 4 are arranged side by side in an aligned mode. Climbing of two adjacent climbing points is divided two steps and is walked, and first step is with interior manipulator 3 swing to the state of tightening up in order to withdraw from current climbing point earlier, then pull out interior guide rail 1 from outer guide rail 2 and remove a section distance until interior manipulator 3 corresponds with target climbing point, again with interior manipulator 3 swing to the open mode and with this target climbing point cooperation fixed, whole arm of this in-process relies on outer manipulator 4 to be fixed in that the building is peripheral. The second step is to swing outer manipulator 4 to the state of tightening up in order to withdraw from current climbing point, then with outer guide rail 2 remove outer manipulator 4 and target climbing point is corresponding (promptly with the fixed climbing point of interior manipulator 3 this moment), again with outer manipulator 4 swing to the open mode and with this target climbing point cooperation fixed, whole arm of this in-process relies on interior manipulator 3 to be fixed in building outlying.

In a preferred embodiment, the inner guide rail 1 is provided with an inner manipulator mounting rail for mounting the inner manipulator 3 along a height direction (i.e., a vertical direction), the outer guide rail 2 is provided with a slide rail and an outer manipulator mounting rail for mounting the outer manipulator 4 along a height direction (i.e., a vertical direction), the inner guide rail 1 is sleeved with the slide rail, and the inner manipulator mounting rail and the outer manipulator mounting rail are arranged side by side.

Referring to fig. 2 specifically, outer guide rail 2 includes two relative main parts that set up, and two relative front mirror images of main part set up a set of spout 21, and this a set of spout 21 conduct the slide rail is used for cup jointing inner guide rail 1, and the side of one of them main part is perpendicular and each other is the mirror image be provided with two outer track portions 22, two outer track portions 22 conduct outer manipulator mounting track parallel set up in main part side and two between the outer track portion 22 certain distance of interval, every outer track portion 22 has seted up a plurality ofly along its direction of height and has been used for fixing outer manipulator mounting hole 220 of outer manipulator 4, and the user can select a plurality of outer manipulator mounting hole 220 wherein to fix outer manipulator 4 respectively as required.

With continued reference to fig. 2, a plurality of outer rail fixing holes 20 connected to the lifting device are formed on one side of the outer rail 2 away from the outer rail portion 22 from top to bottom.

Referring to fig. 3, the inner rail 1 includes a sliding portion 11 and two inner rail portions 12 perpendicular to the sliding portion 11 and being mirror images of each other, and the sliding portion 11 and the inner rail portions 12 are each in a rectangular plate shape.

Two interior track portions 12 conduct the parallel setting of interior manipulator mounting rail in on the sliding part 11 and interval certain distance between two interior track portions 12, every interior track portion 12 has seted up a plurality ofly along its direction of height (vertical direction promptly) and has been used for fixing interior manipulator mounting hole 120 of interior manipulator 3, the user can select wherein a plurality of interior manipulator mounting hole 120 fix interior manipulator 3 respectively as required.

Referring to fig. 4, the inner manipulator 3 and the outer manipulator 4 have the same structure, and each of the inner manipulator 3 and the outer manipulator 4 includes a manipulator base 5 fixed to the corresponding inner manipulator mounting rail/outer manipulator mounting rail and a rotating arm 6 rotatably mounted on the manipulator base 5, and a rotation axis of the rotating arm 6 is parallel to the inner manipulator mounting rail and the outer manipulator mounting rail, that is, in a vertical direction.

Specifically, the robot base 5 includes a rectangular fixing portion 51 installed in the inner/outer robot mounting rail, and a rotating mechanism 52 connected to a side of the fixing portion 51. The fixing portion 51 is provided with a connecting hole 510, and the fixing portion 51 is disposed between the two outer rail portions 22 or the two inner rail portions 12, and is aligned with the outer manipulator mounting hole 220 or the inner manipulator mounting hole 120 through the connecting hole 510 and then fixed by a bolt or the like. The rotating mechanism 52 is cylindrical, the axis of the rotating mechanism is vertical, a rotating shaft 53 connected with the rotating arm 6 is arranged below the rotating mechanism 52, the radial dimension of the rotating shaft 53 is smaller than that of the rotating mechanism 52, and the central shaft of the rotating shaft 53 is parallel to the inner manipulator mounting rail/outer manipulator mounting rail, namely, the central shaft is vertically arranged.

It will be appreciated that the rotation mechanism 52 may be a manual rotation mechanism requiring manual dialing by the user to effect rotation, and may also be an electric rotation mechanism or a hydraulic rotation mechanism.

Specifically, the rotating arm 6 includes a plane portion 61 sleeved on the rotating shaft 53 and a bending portion 62 bent downward from the plane portion 61, and the plane portion 61 is provided with a fixing hole 610 matched with the rotating shaft 53.

Preferably, the planar portion 61 includes a limiting right angle located at the inner side and an arc corner located at the outer side, and the rotating arm 6 drives the arc corner to roll on the mechanical seat 5 when rotating.

When the manipulator needs to be swung to an open state, the rotating arm 6 of the manipulator can be rotated inwards to the limit right angle to be abutted against the mechanical seat 5; when the manipulator needs to be swung to a tightened state, the rotating arm 6 can be rotated outwards.

Preferably, the robot is electrically controlled. Referring to fig. 5, in another embodiment, the swing of the inner robot 3 and the outer robot 4 is controlled electrically. Specifically, the electric push rod mechanism 7 is disposed on the outer side of one inner rail portion 12 of the two inner rail portions 12, which is far away from the outer rail 2, and the electric push rod mechanism 7 is disposed on the outer side of one outer rail portion 22 of the two outer rail portions 22, which is far away from the inner rail 1.

Preferably, in order to increase the stability against tilting, in another embodiment, referring to fig. 6, 100, 200 are climbing points, between each of which a mutually engaging anti-tilt structure 8 is arranged.

The climbing principle of the present invention is described below with reference to fig. 7-12:

as fig. 7 shows the current fixed position of the whole mechanical arm, fig. 8 is a schematic diagram of the overlooking angle at this time, the inner guide rail 1 and the outer guide rail 2 are parallel and level, the inner manipulator 3 and the outer manipulator 4 are both two, the inner manipulator 3 and the outer manipulator 4 at the bottom are both matched and fixed with the climbing point 100, and the inner manipulator 3 and the outer manipulator 4 at the top are both matched and fixed with the climbing point 200. If the robot arm needs to crawl up a floor, the process is as follows:

firstly, as shown in fig. 9-10, all the inner manipulators 3 are swung to a tightened state to be withdrawn from the current climbing point; pulling the inner guide rail 1 upwards from the outer guide rail 2 and moving for a certain distance until the inner manipulator 3 at the bottom corresponds to the target climbing point 200 and the inner manipulator 3 at the top corresponds to the target climbing point 300, wherein the outer manipulator 4 at the bottom is matched and fixed with the current climbing point 100 and the outer manipulator 4 at the top is matched and fixed with the current climbing point 200, and then swinging all the inner manipulators 3 to an open state and matched and fixed with the target climbing point, as shown in fig. 11; .

Secondly, as shown in fig. 12, all the outer manipulators 4 are swung to a tightened state to be withdrawn from the current climbing point; then the outer guide rail 2 is moved to the outer manipulator 4 at the bottom to correspond to the target climbing point 200; and then the outer manipulator 4 is swung to be in an open state and is matched and fixed with the target climbing point.

Therefore, in the whole first step process, the whole mechanical arm is fixed on the periphery of the building by the outer mechanical arm 4; in the whole second step process, the whole mechanical arm is fixed on the periphery of the building by the inner mechanical arm 3.

It should be understood that although the present embodiment discloses moving the inner rail 1 first and then the outer rail 2, the present invention is not limited thereto, and the modification of moving the outer rail 2 first and then the inner rail 1 is also within the scope of the present invention.

Based on the same concept, the invention also discloses a use method of the side-swinging mechanical arm, which comprises the following steps:

s0, swinging the manipulators on the inner guide rail 1 and the outer guide rail 2 to an open state vertical to the periphery of the building, matching and fixing with a climbing point, and alternately executing the step S1 and the step S2 when climbing upwards or downwards;

s1, swinging all the inner manipulators 3 on the inner guide rail 1 to a tightening state parallel to the periphery of the building so as to be withdrawn from the current climbing point, moving the inner guide rail 1 to the position of a target climbing point, swinging all the inner manipulators 3 on the inner guide rail 1 to an opening state, and matching and fixing with the target climbing point;

and S2, swinging all the outer manipulators 4 on the outer guide rail 2 to a tightening state to withdraw from the current climbing point, moving the outer guide rail 2 to the position of the target climbing point, swinging all the outer manipulators 4 on the outer guide rail 2 to an opening state, and matching and fixing with the target climbing point.

In summary, the implementation of the side-swinging mechanical arm and the use method thereof of the invention has the following beneficial effects: the climbing operation can be performed by the two guide rails sliding up and down alternately, so that the climbing operation can be realized on the periphery of a building, the carrying of a guide seat of a high-rise construction lifting platform is reduced, the connection and disconnection work of attachment points of the high-rise construction lifting platform is reduced, the mechanization and automation level of building construction is improved, the labor intensity of workers is reduced, the construction efficiency is greatly improved, and a large amount of labor force is saved.

While the present invention has been described with reference to the embodiments shown in the drawings, the present invention is not limited to the embodiments, which are illustrative and not restrictive, and it will be apparent to those skilled in the art that various changes and modifications can be made therein without departing from the spirit and scope of the invention as defined in the appended claims.

Claims

1. A side-swinging mechanical arm is characterized by comprising a plurality of mechanical hands and two guide rails matched with each other in a sliding manner, wherein at least one mechanical hand is fixedly attached to each guide rail along the height direction of the guide rail, the mechanical hands can be switched between an open state vertical to the periphery of a building and a tightening state parallel to the periphery of the building through rotation in a horizontal plane, and the mechanical hands can be matched and fixed with a climbing point when swinging to the open state and can be withdrawn from the climbing point when swinging to the tightening state;

the two guide rails are divided into an inner guide rail (1) and an outer guide rail (2), the manipulator is divided into an inner manipulator (3) which is attached and fixed to the inner guide rail (1) and an outer manipulator (4) which is attached and fixed to the outer guide rail (2), an inner manipulator mounting rail for mounting the inner manipulator (3) is arranged on the inner guide rail (1) along the height direction of the inner guide rail, a slide rail and an outer manipulator mounting rail for mounting the outer manipulator (4) are arranged on the outer guide rail (2) along the height direction of the outer guide rail, the inner guide rail (1) is sleeved with the slide rail, and the inner manipulator mounting rail and the outer manipulator mounting rail are arranged side by side;

2. A yaw robot arm according to claim 1, characterized in that between each manipulator and the climbing point a mutually snap-fitted anti-roll structure (8) is arranged.

3. The yaw robot arm according to claim 1, characterized in that each guide rail is provided with an electric push rod mechanism (7) connected with the corresponding manipulator to drive the rotation of the manipulator in the horizontal plane, or each manipulator comprises a rotating mechanism (52) driving the rotation of the manipulator, and the rotating mechanism (52) is an electric rotating mechanism or a hydraulic rotating mechanism or a manual rotating mechanism.

4. The side-swinging mechanical arm according to claim 1, wherein the inner guide rail (1) comprises a sliding part (11) and two inner rail parts (12) perpendicular to the sliding part (11), the two inner rail parts (12) are arranged on the sliding part (11) as the inner manipulator mounting rails in parallel, a certain distance is arranged between the two inner rail parts (12), the electric push rod mechanism (7) is arranged on the outer side of one inner rail part (12) far away from the outer guide rail (2) in the two inner rail parts (12), and each inner rail part (12) is provided with a plurality of inner manipulator mounting holes (120) for fixing the inner manipulator (3) along the height direction thereof.

5. The yaw arm according to claim 4, wherein the outer rail (2) comprises two main body portions arranged oppositely, the front surfaces of the two main body portions opposite to each other are provided with a set of sliding grooves (21) in a mirror image manner, the group of sliding grooves (21) are used as the sliding rails for sleeving the inner guide rail (1), wherein the side edge of one main body part is vertically provided with two outer track parts (22) which are mirror images, the two outer rail parts (22) are arranged on the side of the main body part in parallel as the outer manipulator mounting rails, and two outer track portions (22) are separated by a certain distance, the outer side of one outer track portion (22) far away from the inner guide rail (1) in the two outer track portions (22) is provided with the electric push rod mechanism (7), and each outer track portion (22) is provided with a plurality of outer manipulator mounting holes (220) used for fixing the outer manipulator (4) along the height direction of the outer track portion.

6. The side-swinging mechanical arm as claimed in claim 5, wherein one side of the outer guide rail (2) far away from the outer rail part (22) is provided with a plurality of outer guide rail fixing holes (20) connected with a lifting device from top to bottom.

7. A side-swinging robot arm according to claim 1, wherein each of the inner (3) and outer (4) manipulators comprises a base (5) fixed to the respective inner/outer manipulator mounting rail and a swing arm (6) rotatably mounted on the base (5), the rotation axis of the swing arm (6) being parallel to the inner and outer manipulator mounting rails.

8. The side-swinging mechanical arm according to claim 7, wherein the mechanical base (5) comprises a rectangular fixing part (51) installed in an inner/outer mechanical arm mounting rail and a rotating mechanism (52) connected with the side edge of the fixing part (51), the rotating mechanism (52) is an electric rotating mechanism or a hydraulic rotating mechanism or a manual rotating mechanism, a rotating shaft (53) connected with the rotating arm (6) is arranged below the rotating mechanism (52), and the central axis of the rotating shaft (53) is parallel to the inner/outer mechanical arm mounting rail.

9. The side-swinging mechanical arm according to claim 8, wherein the rotating arm (6) comprises a flat part (61) sleeved on the rotating shaft (53) and a bent part (62) bent downwards from the flat part (61), and the flat part (61) is provided with a fixing hole (610) matched with the rotating shaft (53).

10. A yaw arm according to claim 9, wherein said planar portion (61) comprises an inner right-angled stop and an outer rounded corner, said arm (6) being adapted to roll on said robot base (5) when rotated;

when the manipulator needs to be swung to an open state, the rotating arm (6) of the manipulator can be rotated inwards to the limit right angle to be abutted against the mechanical seat (5); when the manipulator needs to be swung to a tightening state, the rotating arm (6) can be rotated outwards.

11. A method of using a side-swinging robot arm according to claim 1, comprising: