CN111923035A

CN111923035A - Stacking mechanical arm and using method thereof

Info

Publication number: CN111923035A
Application number: CN202010803962.6A
Authority: CN
Inventors: 蒋彩虹
Original assignee: Hangzhou Zitengcai Technology Co ltd
Current assignee: Hangzhou Zitengcai Technology Co ltd
Priority date: 2020-08-11
Filing date: 2020-08-11
Publication date: 2020-11-13

Abstract

The invention discloses a stacking mechanical arm which comprises a stabilizing seat, wherein a first rotating rod is installed at the bottom end of the stabilizing seat, a base is installed at the bottom end of the first rotating rod, a first connecting arm is installed at the top end of the stabilizing seat, a first rotating shaft is installed at the top end of the first connecting arm, a second connecting arm is installed at one end of the first rotating shaft, a hydraulic rod is installed between the first connecting arm and the outer side of the second connecting arm, a driver is installed at one end of the second connecting arm, a rotary table is installed on the outer side of the driver, a mechanical claw is installed on the outer side of the rotary table, a lifting table is installed in the middle of the bottom end of the base, a driving wheel is installed at the bottom end of the lifting table; the invention stabilizes the cargo carrying process, reduces the extrusion to the cargo, enhances the flexibility of the mechanical arm, ensures the flexibility and ensures the overall stability of the mechanical arm.

Description

Stacking mechanical arm and using method thereof

Technical Field

The invention belongs to the field of mechanical arms, and particularly relates to a stacking mechanical arm and a using method thereof.

Background

With the development of society, more and more production and handling processes are being replaced by machines, including the production of confidential instruments and the handling of overweight objects, which can accurately and rapidly perform industrial production and handling work using precision robotic arms.

The existing stacking mechanical arm has some disadvantages, the existing stacking mechanical arm usually transports goods by a method of extruding at two sides, so that the goods are easily extruded to cause damage and are easily separated in the transportation process; the existing stacking mechanical arm is poor in flexibility and difficult to carry when short-distance movement is needed; the existing palletizing mechanical arm is poor in stability, or the base is large in pursuit of stability, so that storage and transportation are inconvenient.

Disclosure of Invention

In order to overcome the technical problems, the invention aims to provide a stacking mechanical arm which effectively solves the problems that the existing stacking mechanical arm always utilizes a method of extruding from two sides to transport goods, so that the goods are easily extruded to cause damage and are easily separated in the transportation process; the existing stacking mechanical arm is poor in flexibility and difficult to carry when short-distance movement is needed; the existing stacking mechanical arm is often poor in stability, or the base is large to cause inconvenience in storage and transportation in order to pursue stability.

The purpose of the invention can be realized by the following technical scheme:

a stacking mechanical arm comprises a stabilizing seat, wherein a first rotating rod is mounted at the bottom end of the stabilizing seat, a base is mounted at the bottom end of the first rotating rod, a first connecting arm is mounted at the top end of the stabilizing seat, a first rotating shaft is mounted at the top end of the first connecting arm, a second connecting arm is mounted at one end of the first rotating shaft, a hydraulic rod is mounted between the first connecting arm and the outer side of the second connecting arm, a driver is mounted at one end of the second connecting arm, a rotating disc is mounted on the outer side of the driver, and a mechanical claw is mounted on the outer side of the rotating disc;

the bottom mid-mounting of base has the elevating platform, the drive wheel is installed to the bottom of elevating platform, four group's stabilizing component and four group's movable wheels are installed to the bottom of base.

As a further scheme of the invention: the movable wheel includes the support, and the guide pulley is installed to the bottom of support, and the connecting rod is installed on the top of support, and pivot two is installed on the top of connecting rod, and the draw-in groove has been seted up to one side of connecting rod, and the buckle is installed to the inboard of draw-in groove, and the internally mounted of base has the remote control lever, and the spring beam is installed to the opposite side of connecting rod, the other end of spring beam and the inside fixed connection of base.

As a further scheme of the invention: the stabilizing assembly comprises a sliding rod, a connecting ring is installed on the outer side of the sliding rod, a fixing frame is installed on the top end of the connecting ring, the fixing frame is connected with a base in a sliding mode, a central rod and two groups of stabilizer bars are installed on one end of the sliding rod based on the connecting ring principle, the two groups of stabilizer bars are located on two sides of the central rod, a spring telescopic rod is installed between the stabilizer bars and the central rod, a third rotating shaft is installed between the stabilizer bars and the connecting ring.

As a further scheme of the invention: the gripper includes the foundation frame, and two sets of adjustable shelves are installed in the outside of foundation frame, the driving frame is installed to one side of adjustable shelf, and the claw arm is installed to the bottom of adjustable shelf, and the bearing frame is installed in the outside of claw arm.

As a further scheme of the invention: the inner mounting of the first connecting arm is provided with a first hydraulic cylinder, one end of the first hydraulic cylinder is in transmission connection with a hydraulic rod, a fourth rotating shaft is mounted between the stabilizing seat and the first connecting arm, a first motor is mounted at one end of the fourth rotating shaft, a second motor is mounted at the bottom end of the first rotating rod, the driver comprises an outer frame and a driving belt, a rotating machine is mounted on the inner side of the driving belt, a second rotating rod is mounted on the outer side of the driving belt, and the second rotating rod is fixedly connected with.

As a further scheme of the invention: the bottom of carousel is installed motor three, and gear one is installed to motor three's bottom, and gear one is connected with two sets of gear racks transmission, and a plurality of groups latch are installed to one side of gear rack, and gear two is installed on the top of latch groove, and motor three is installed to the one end of gear two.

As a further scheme of the invention: a fixing frame is installed between the claw arm and the bearing frame, a rotating rod III is installed between the fixing frame and the bearing frame, a telescopic rod is installed at one end of the bearing frame, a hydraulic cylinder II is installed at one end of the telescopic rod, and the hydraulic cylinder II is fixedly connected with the claw arm.

A use method of a stacking mechanical arm specifically comprises the following steps:

the method comprises the following steps: firstly, after a mechanical arm is connected with a power supply, a second motor is started to drive a first rotating rod to rotate, the first rotating rod drives a stabilizing seat to rotate so as to adjust the direction of a first connecting arm and a second connecting arm, a first hydraulic cylinder is started to adjust the length of a hydraulic rod to match with the movement of a first rotating shaft so as to adjust the moving distance of the second connecting arm, the first motor is started to drive a fourth rotating shaft to rotate so as to adjust the movement of the first connecting arm, a third motor in a turntable is started to drive a first gear to rotate, the first gear is in transmission connection with two sets of transmission frames, the two sets of transmission frames are separated and aggregated through the rotation of the first gear so as to separate and aggregate the movable frame and a claw arm, and the first connecting arm and the second connecting arm are controlled to move after a cargo is grabbed by;

step two: when the two groups of claw arms are tightened inwards, goods are squeezed and grabbed, the hydraulic cylinder II is started to push the telescopic rod outwards, the telescopic rod extends to be matched with the bearing frame to be rotatably connected with the rotating rod III so as to rotate the bearing frame to a horizontal state, the bearing frame is rotated inwards to be bent to support the goods, the hydraulic cylinder II is closed to pull back the telescopic rod so as to rotate the bearing frame to a vertical direction, and the motor III is started to drive the gear I to rotate to separate the transmission frame and the claw arms so as to put down the goods;

step three: the lifting platform is started to jack the base to enable the driving wheel to be in contact with the ground, the remote control rod is controlled to be recovered, so that the buckle in the clamping groove on one side of the connecting rod is separated from the remote control rod, the spring rod connected with the other side of the connecting rod is matched to pull the support and the guide wheel to be in vertical direction together, the guide wheel is controlled to be in contact with the ground, the driving wheel is operated to carry out the integral movement of the mechanical arm, the lifting platform is recovered into the base after the position is adjusted, the base sinks after the support of the driving wheel is lacked, the movable wheel is extruded to be in a horizontal state by matching the action of the rotating shaft II and the extrusion of gravity, then the buckle in the clamping groove is fixed with the remote control rod to fix the movable wheel, the motor III is started to drive the gear II to rotate, the stabilizing assembly is transported outwards from the base by matching the connection of the, and when the stabilizing assembly is recovered, the motor III is started again to drive the gear II to rotate so as to transport the stabilizing assembly inwards, and the rotating shaft III matched with one end of the stabilizing rod merges the two groups of stabilizing rods and recovers the stabilizing rods together with the central rod.

The invention has the following beneficial effects:

1. according to the invention, the load-bearing frame is arranged, the two groups of claw arms squeeze and grab the goods when tightened inwards, the hydraulic cylinder II is started to push the telescopic rod outwards, the telescopic rod is extended to be matched with the load-bearing frame and rotatably connected with the rotating rod III to rotate the load-bearing frame to a horizontal state, so that the load-bearing frame rotates inwards and bends to support the goods, the goods are transported by utilizing supporting force, the squeezing of the goods is reduced, the integrity of the goods is ensured, and the stability is increased by matching with the telescopic rod, so that the load-bearing frame is not easy to bend;

2. through the arrangement of the lifting table, the lifting table is started to jack the base to enable the driving wheel to be in contact with the ground, the remote control rod is controlled to be recovered, so that the buckle in the clamping groove on one side of the connecting rod is separated from the remote control rod, the spring rod connected with the other side of the connecting rod is matched to pull the support and the guide wheel together to the vertical direction, so that the guide wheel is in contact with the ground, the driving wheel is operated to perform the integral movement of the mechanical arm, the lifting table is recovered into the base after the position is adjusted, the base sinks after the support of the driving wheel is lacked, the movable wheel is extruded to the horizontal state through the action of the rotating shaft II and the extrusion of gravity, then the buckle in the clamping groove is fixed with the remote control;

3. through setting up the stabilizing component, the two rotations of three drive gears of starter motor, the cooperation two outward transportation of stabilizing component follow bases with being connected of draw-in groove of gear, when transporting the go-between edge that is close to the base, because the effect of spring telescopic link outwards pops open the expansion with two sets of stabilizer bars, the two rotations of three drive gears of starter motor once more during the recovery are with the inside transportation of stabilizing component, the three pivots of cooperation stabilizer bar one end merge two sets of stabilizer bars and retrieve with well core rod together, utilize well core rod and stabilizer bar's expansion contact to improve the stability of arm, utilize the retractable ability not only to make things convenient for the installation and made things convenient for the transportation and deposited simultaneously.

4. According to the invention, the method of vertically providing supporting force is utilized, so that the carrying process of the goods is stabilized, the extrusion to the goods is reduced, the flexibility of the mechanical arm is enhanced by utilizing a liftable structure, and the overall stability of the mechanical arm is ensured while the flexibility is ensured.

Drawings

The invention will be further described with reference to the accompanying drawings.

Fig. 1 is a schematic view of the overall structure of a stacking mechanical arm.

FIG. 2 is a bottom view of a base in a palletizing robot according to the present invention.

Fig. 3 is a schematic view of the overall structure of a movable wheel in the stacking mechanical arm.

Fig. 4 is a schematic diagram of the overall structure of a stabilizing component in the stacking mechanical arm.

Fig. 5 is a schematic view of the overall structure of a gripper in a stacking robot according to the present invention.

In the figure: 1. a stabilizing base; 2. a first rotating rod; 3. a base; 4. a first connecting arm; 5. a first rotating shaft; 6. a hydraulic lever; 7. a second connecting arm; 8. a driver; 9. a turntable; 10. a gripper; 11. a movable wheel; 12. a stabilizing assembly; 13. a drive wheel; 14. a lifting platform; 15. a second rotating shaft; 16. a connecting rod; 17. a card slot; 18. a support; 19. a guide wheel; 20. a connecting ring; 21. a slide bar; 22. a stabilizer bar; 23. a tooth clamping groove; 24. a center pole; 25. a movable frame; 26. a transmission frame; 27. a claw arm; 28. a base frame; 29. a bearing frame.

Detailed Description

The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.

As shown in fig. 1-5, a stacking mechanical arm comprises a stabilizing seat 1, wherein a first rotating rod 2 is installed at the bottom end of the stabilizing seat 1, a base 3 is installed at the bottom end of the first rotating rod 2, a first connecting arm 4 is installed at the top end of the stabilizing seat 1, a first rotating shaft 5 is installed at the top end of the first connecting arm 4, a second connecting arm 7 is installed at one end of the first rotating shaft 5, a hydraulic rod 6 is installed between the first connecting arm 4 and the outer side of the second connecting arm 7, a driver 8 is installed at one end of the second connecting arm 7, a rotary table 9 is installed on the outer side of the driver 8, and a mechanical claw 10 is;

the middle of the bottom end of the base 3 is provided with a lifting table 14, the bottom end of the lifting table 14 is provided with a driving wheel 13, and the bottom end of the base 3 is provided with four groups of stabilizing assemblies 12 and four groups of movable wheels 11.

The movable wheel 11 comprises a support 18, a guide wheel 19 is installed at the bottom end of the support 18, a connecting rod 16 is installed at the top end of the support 18, a second rotating shaft 15 is installed at the top end of the connecting rod 16, a clamping groove 17 is formed in one side of the connecting rod 16, a buckle is installed on the inner side of the clamping groove 17, a remote control rod is installed inside the base 3, a spring rod is installed on the other side of the connecting rod 16, and the other end of the spring rod is fixedly connected with the inside of.

Stabilizing assembly 12 includes slide bar 21, go-between 20 is installed in the outside of slide bar 21, the mount is installed on the top of go-between 20, mount and 3 sliding connection of base, well core rod 24 and two sets of stabilizer bar 22 are installed to the one end of go-between 20 principle slide bar 21, two sets of stabilizer bar 22 are located well core rod 24's both sides, install the spring telescopic link between stabilizer bar 22 and the well core rod 24, and install pivot three between stabilizer bar 22 and the go-between 20, bayonet socket 23 has been seted up on well core rod 24's top.

The mechanical claw 10 comprises a base frame 28, two groups of movable frames 25 are mounted on the outer side of the base frame 28, a transmission frame 26 is mounted on one side of each movable frame 25, a claw arm 27 is mounted at the bottom end of each movable frame 25, and a bearing frame 29 is mounted on the outer side of each claw arm 27.

The internally mounted of linking arm 4 has pneumatic cylinder one, and the one end and the 6 transmission of hydraulic stem of pneumatic cylinder one are connected, install pivot four between stable seat 1 and the linking arm 4, and motor one is installed to the one end of pivot four, and motor two is installed to the bottom of bull stick 2, and driver 8 includes frame and drive belt, and the rotating machine is installed to the inboard of drive belt, and bull stick two is installed in the outside of drive belt, bull stick two and carousel 9 fixed connection.

A third motor is installed at the bottom end of the rotary table 9, a first gear is installed at the bottom end of the third motor and is in transmission connection with the two groups of transmission frames 26, a plurality of groups of clamping teeth are installed on one side of each transmission frame 26, a second gear is installed at the top end of the corresponding clamping tooth groove 23, and the third motor is installed at one end of the second gear.

Install the mount between claw arm 27 and bearing frame 29, install bull stick three between mount and the bearing frame 29, the telescopic link is installed to the one end of bearing frame 29, and pneumatic cylinder two is installed to the one end of telescopic link, and pneumatic cylinder two and claw arm 27 fixed connection have formed bearing structure through setting up the telescopic link and have stabilized bearing frame 29.

the method comprises the following steps: firstly, after the mechanical arm is connected with a power supply, a second starting motor drives a first rotating rod 2 to rotate, the first rotating rod 2 drives a stabilizing seat 1 to rotate so as to adjust the direction of a first connecting arm 4 and a second connecting arm 7, a first hydraulic cylinder is started to adjust the length of a hydraulic rod 6, the length of the hydraulic rod is matched with the moving distance of the second connecting arm 7 of a first rotating shaft 5, a first starting motor drives a fourth rotating shaft to rotate so as to adjust the moving distance of the first connecting arm 4, the direction orientation of the turntable 9 is adjusted by driving the transmission belt to move through the rotation of the rotary machine in the driver 8, the motor III in the turntable 9 is started, the motor III drives the gear I to rotate, the gear I is in transmission connection with the two groups of transmission frames 26, the two sets of transmission frames 26 are separated and converged by the rotation of the first gear to separate and converge the movable frame 25 from the claw arm 27, after the goods are grabbed by the claw arms 27, the connecting arms I4 and II 7 are controlled to move, so that the goods are transported;

step two: when the two groups of claw arms 27 are tightened inwards, goods are squeezed and grabbed, the hydraulic cylinder II is started to push the telescopic rod outwards, the telescopic rod is extended to be matched with the bearing frame 29 and the rotating rod III to be rotatably connected to rotate the bearing frame 29 to a horizontal state, so that the bearing frame 29 is rotated inwards and bent to support the goods, the hydraulic cylinder II is closed to pull back the telescopic rod to rotate the bearing frame 29 back to a vertical direction, and the motor III is started to drive the gear I to rotate to separate the transmission frame 26 from the claw arms 27, so that the goods are put down;

step three: the lifting platform 14 is started to jack the base 3 to enable the driving wheel 13 to contact the ground, the remote control rod is controlled to be recovered, so that the buckle in the clamping groove 17 on one side of the connecting rod 16 is separated from the remote control rod, the spring rod connected with the other side of the connecting rod 16 is matched to pull the support 18 and the guide wheel 19 to be in vertical direction, so that the guide wheel 19 is contacted with the ground, the driving wheel 13 is operated to carry out the integral movement of the mechanical arm, the lifting platform 14 is recovered in the base 3 after the position is adjusted, the base 3 sinks after the support of the driving wheel 13 is lacked, the movable wheel 11 is extruded to be in a horizontal state by matching the action of the rotating shaft II 15 and the extrusion of gravity, then the buckle in the clamping groove 17 is fixed with the remote control rod to fix the movable wheel 11, then the motor III is started to drive the gear II to rotate, the stabilizing component 12 is transported outwards from the base 3, because the two groups of stabilizer bars 22 are outwards flicked and expanded under the action of the telescopic rod of the spring, the motor three is started again to drive the gear two to rotate to transport the stabilizing component 12 inwards during recovery, the two groups of stabilizer bars 22 are combined and recovered together with the central rod 24 by matching with the rotating shaft three at one end of the stabilizer bars 22, and the type of the lifting platform 14 is SHH-988.

According to the invention, by arranging the load-bearing frame 29, after goods are squeezed and grabbed when the two groups of claw arms 27 are tightened inwards, the hydraulic cylinder II is started to push the telescopic rod outwards, the telescopic rod is extended to be matched with the load-bearing frame 29 and the rotating rod III to be rotatably connected to rotate the load-bearing frame 29 to a horizontal state, so that the load-bearing frame 29 is rotated and bent inwards to support the goods, the goods are transported by utilizing supporting force, the squeezing of the goods is reduced, the goods are ensured to be complete, and the stability is increased by matching with the telescopic rod, so that the load-bearing frame 29 is not; by arranging the lifting table 14, the lifting table 14 is started to jack the base 3 to enable the driving wheel 13 to be in contact with the ground, the recovery of the remote control rod is controlled, so that the buckle in the clamping groove 17 on one side of the connecting rod 16 is separated from the remote control rod, the support 18 and the guide wheel 19 are pulled to the vertical direction by matching with the spring rod connected to the other side of the connecting rod 16, so that the guide wheel 19 is in contact with the ground, the driving wheel 13 is operated to perform the integral movement of the mechanical arm, the lifting table 14 is recovered into only the base 3 after the position is adjusted, the base 3 sinks after the support of the driving wheel 13 is lacked, the movable wheel 11 is extruded to the horizontal state by matching with the action of the rotating shaft two 15 and the extrusion of gravity, then the buckle in the clamping groove 17 is fixed with the remote control; through setting up stabilizing assembly 12, the two rotations of three drive gears of starter motor, cooperation gear two outwards transports stabilizing assembly 12 from base 3 with being connected of bayonet socket 23, when transporting the edge that go-between 20 is close to base 3, because the expansion is outwards popped open to the effect of spring telescopic link with two sets of stabilizer bar 22, the two rotations of three drive gears of starter motor once more transport stabilizing assembly 12 inwards during the recovery, the three pivots of cooperation stabilizer bar 22 one end are merged two sets of stabilizer bar 22 and are retrieved with well core rod 24 together, the expansion contact of utilizing well core rod 24 and stabilizer bar 22 has improved the stability of arm, utilize the retractable ability not only to make things convenient for the installation and have made things convenient for the transportation and deposit simultaneously.

The foregoing is merely exemplary and illustrative of the present invention and various modifications, additions and substitutions may be made by those skilled in the art to the specific embodiments described without departing from the scope of the invention as defined in the following claims.

Claims

1. The stacking mechanical arm is characterized by comprising a stabilizing seat (1), wherein a first rotating rod (2) is installed at the bottom end of the stabilizing seat (1), a base (3) is installed at the bottom end of the first rotating rod (2), a first connecting arm (4) is installed at the top end of the stabilizing seat (1), a first rotating shaft (5) is installed at the top end of the first connecting arm (4), a second connecting arm (7) is installed at one end of the first rotating shaft (5), a hydraulic rod (6) is installed between the first connecting arm (4) and the outer side of the second connecting arm (7), a driver (8) is installed at one end of the second connecting arm (7), a turntable (9) is installed on the outer side of the driver (8), and a mechanical claw (10) is installed on the outer side of the turntable (9);

the bottom mid-mounting of base (3) has elevating platform (14), drive wheel (13) are installed to the bottom of elevating platform (14), four groups of stabilizing component (12) and four groups of activity wheel (11) are installed to the bottom of base (3).

2. A stacking mechanical arm according to claim 1, wherein the movable wheel (11) comprises a support (18), a guide wheel (19) is mounted at the bottom end of the support (18), a connecting rod (16) is mounted at the top end of the support (18), a second rotating shaft (15) is mounted at the top end of the connecting rod (16), a clamping groove (17) is formed in one side of the connecting rod (16), a buckle is mounted on the inner side of the clamping groove (17), a remote control rod is mounted inside the base (3), a spring rod is mounted on the other side of the connecting rod (16), and the other end of the spring rod is fixedly connected with the inside of the base (3).

3. A stacking mechanical arm according to claim 1, wherein the stabilizing assembly (12) comprises a sliding rod (21), a connecting ring (20) is mounted on the outer side of the sliding rod (21), a fixing frame is mounted at the top end of the connecting ring (20), the fixing frame is slidably connected with the base (3), a central rod (24) and two groups of stabilizing rods (22) are mounted at one end of the sliding rod (21) according to the principle of the connecting ring (20), the two groups of stabilizing rods (22) are located on two sides of the central rod (24), a spring telescopic rod is mounted between each stabilizing rod (22) and the corresponding central rod (24), a rotating shaft III is mounted between each stabilizing rod (22) and the corresponding connecting ring (20), and a clamping groove (23) is formed in the top end of the central rod.

4. A stacking manipulator according to claim 1, characterised in that the gripper (10) comprises a base frame (28), two sets of movable frames (25) are mounted on the outside of the base frame (28), a transmission frame (26) is mounted on one side of each movable frame (25), a gripper arm (27) is mounted at the bottom end of each movable frame (25), and a bearing frame (29) is mounted on the outside of each gripper arm (27).

5. A stacking mechanical arm according to claim 1, wherein a first hydraulic cylinder is mounted inside the connecting arm (4), one end of the first hydraulic cylinder is in transmission connection with a hydraulic rod (6), a fourth rotating shaft is mounted between the stabilizing seat (1) and the connecting arm (4), a first motor is mounted at one end of the fourth rotating shaft, a second motor is mounted at the bottom end of the first rotating rod (2), the transmission device (8) comprises an outer frame and a driving belt, a rotating machine is mounted on the inner side of the driving belt, a second rotating rod is mounted on the outer side of the driving belt, and the second rotating rod is fixedly connected with the rotating disc (9).

6. A stacking mechanical arm according to claim 1, wherein a third motor is mounted at the bottom end of the rotary table (9), a first gear is mounted at the bottom end of the third motor, the first gear is in transmission connection with two groups of transmission frames (26), a plurality of groups of clamping teeth are mounted on one side of each transmission frame (26), a second gear is mounted at the top end of each clamping tooth groove (23), and the third motor is mounted at one end of each second gear.

7. A stacking mechanical arm according to claim 4, wherein a fixed frame is arranged between the claw arm (27) and the bearing frame (29), a third rotating rod is arranged between the fixed frame and the bearing frame (29), a telescopic rod is arranged at one end of the bearing frame (29), a second hydraulic cylinder is arranged at one end of the telescopic rod, and the second hydraulic cylinder is fixedly connected with the claw arm (27).

8. Use method of a palletizing robot arm according to claim 1, characterized in that the method comprises the following steps:

the method comprises the following steps: firstly, after a mechanical arm is connected with a power supply, a motor II is started to drive a rotating rod I (2) to rotate, the rotating rod I (2) drives a stabilizing seat (1) to rotate so as to adjust the directions of a connecting arm I (4) and a connecting arm II (7), a hydraulic cylinder I is started to adjust the moving distance of a movable adjusting connecting arm II (7) of a long and short matching rotating shaft I (5), the motor I is started to drive a rotating shaft IV to rotate so as to adjust the movement of the connecting arm I (4), a transmission belt is driven to move through the rotation of a transmission machine in a transmission machine (8) so as to adjust the direction orientation of a rotating disc (9), a motor III in the rotating disc (9) is started, the motor III drives a gear I to rotate, the gear I is in transmission connection with two groups of transmission frames (26), the two groups of transmission frames (26) are separated and aggregated through the rotation of the gear I so as to separate and, after the goods are grabbed by the claw arms (27), the connecting arms I (4) and II (7) are controlled to move, so that the goods are transported;

step two: when the two groups of claw arms (27) are tightened inwards, the goods are squeezed and grabbed, the hydraulic cylinder II is started to push the telescopic rod outwards, the telescopic rod is extended to be matched with the bearing frame (29) to be rotatably connected with the rotating rod III to rotate the bearing frame (29) to a horizontal state, so that the bearing frame (29) is rotated inwards to be bent to support the goods, the hydraulic cylinder II is closed to pull the telescopic rod back to rotate the bearing frame (29) to a vertical direction, and the motor III is started to drive the gear I to rotate to separate the transmission frame (26) from the claw arms (27) so as to put down the goods;

step three: starting a lifting platform (14) to jack up a base (3) to enable a driving wheel (13) to contact the ground, controlling the recovery of a remote control rod, enabling a buckle in a clamping groove (17) on one side of a connecting rod (16) to be separated from the remote control rod, matching a spring rod connected with the other side of the connecting rod (16) to pull a support (18) and a guide wheel (19) to be in a vertical direction together, enabling the guide wheel (19) to be in contact with the ground, operating the driving wheel (13) to move integrally of a mechanical arm, recovering the lifting platform (14) only in the base (3) after the position is adjusted, sinking the base (3) after the support of the driving wheel (13) is lacked, extruding a movable wheel (11) to be in a horizontal state by matching the action of a rotating shaft II (15) and the extrusion of gravity, fixing the buckle in the clamping groove (17) and the remote control rod to fix the movable wheel (11), then starting a motor III to drive a gear II to rotate, and matching the connection of the gear II and a clamping groove (, when the connecting ring (20) is transported to the edge close to the base (3), the two groups of stabilizer bars (22) are outwards flicked and expanded due to the action of the spring telescopic rod, the motor three is started again to drive the gear two to rotate to transport the stabilizing assembly (12) inwards during recovery, the two groups of stabilizer bars (22) are merged and recovered together with the central rod (24) through the rotating shaft three at one end of the stabilizer bars (22), and the operation of the whole device is completed.