CN214384354U - Mechanical arm and sunlight simulator - Google Patents

Abstract

The application discloses mechanical arm and sunlight simulator relates to mechanical transmission technical field. The mechanical arm comprises a main arm and a first support arm which is connected with the main arm in a rotating mode, the first support arm is connected with a second support arm in a rotating mode, an end effector is arranged on the second support arm and used for being connected with an acting element, and the rotating plane of the first support arm relative to the main arm is perpendicular to the rotating plane of the second support arm relative to the first support arm. The adjustment form can be simplified, and the operation difficulty can be reduced.

Description

Mechanical arm and sunlight simulator

Technical Field

The application relates to the technical field of mechanical transmission, in particular to a mechanical arm and a sunlight simulator.

Background

The solar simulator can be used for simulating real solar irradiation conditions required by experiments and production, can realize all-weather uninterrupted light irradiation conditions, and enables the experiments and the production not to be restricted by test conditions and environments, thereby being widely applied to the research and the quality inspection of photovoltaic devices.

In the prior art, a special independent bracket is designed according to a tested product to mount and fix a solar simulator, and the irradiation angle and the position of the solar simulator are adjusted manually according to a testing step. Because the structural member support is usually relatively simple, the sunlight simulator has large volume and heavy weight, the adjustment difficulty is large, and the complicated test requirements are generally difficult to meet.

SUMMERY OF THE UTILITY MODEL

The application aims to provide a mechanical arm and a sunlight simulator, which can simplify the adjustment form and reduce the operation difficulty.

The embodiment of the application is realized as follows:

in one aspect of the embodiments of the present application, a mechanical arm is provided, including the main arm, and with the main arm rotates the first support arm of connecting, first support arm rotates with the second support arm to be connected, be provided with end effector on the second support arm, end effector is used for connecting the effect, wherein, first support arm for the rotation plane of main arm with the second support arm for the rotation plane of first support arm is perpendicular.

Optionally, the main arm includes a first connecting seat, the first support arm includes a second connecting seat, the first connecting seat is connected to an outer ring of the first bearing flange, the second connecting seat is connected to an inner ring of the first bearing flange through a first gear disc, a first motor is disposed on the first connecting seat or the second connecting seat, and the first motor is engaged with the first gear disc through a first transmission gear.

Optionally, the second support arm includes first support and second support, and sets up first support with the linking arm between the second support, wherein, first support the second support with the linking arm forms parallelogram structure, first support with first support fixed connection, first support with connect through linear drive spare between the linking arm.

Optionally, the linear driving member comprises any one of a linear motor, an electric push rod, a hydraulic cylinder or an air cylinder.

Optionally, the second support is provided with a mounting seat, the end effector comprises a support arm beam and a third connecting seat arranged on the support arm beam, the mounting seat is connected with an outer ring of the second bearing flange, the third connecting seat is connected with an inner ring of the second bearing flange through a second gear disc, the mounting seat or the third connecting seat is provided with a second motor, and the second motor is meshed with the second gear disc through a second transmission gear.

Optionally, the end effector further includes a driving assembly disposed on the support arm beam, a rotational translation assembly respectively connected to the driving assembly is further disposed on the support arm beam, the rotational translation assembly includes a sleeve, and a first connecting assembly and a second connecting assembly respectively disposed on the sleeve, the first connecting assembly and the second connecting assembly are used for connecting with the acting element, wherein the first connecting assembly and the second connecting assembly can rotate around the sleeve, the first connecting assembly can slide along the extending direction of the sleeve, and the second connecting assembly is located outside the sliding range of the first connecting assembly.

Optionally, the rotary translation subassembly still include with the support arm crossbeam rotates transmission shaft and the lead screw of connecting, drive assembly respectively with transmission shaft and lead screw transmission are connected, the lead screw is located in the sleeve, the lead screw pass through the nut with first coupling assembly transmission is connected, the transmission shaft with second coupling assembly transmission is connected.

Optionally, the driving assembly includes a first motor and a second motor that are arranged on the support arm beam, an output end of the first motor is provided with a first synchronizing wheel, and an output end of the second motor is provided with a second synchronizing wheel; the transmission shaft is close to the one end of support arm crossbeam is provided with first idler, the lead screw is close to the one end of support arm crossbeam is provided with the second idler, first synchronous pulley through first hold-in range with first idler is connected, the second synchronous pulley through the second hold-in range with the second idler is connected.

In another aspect of the embodiments of the present application, there is provided a solar simulator comprising a robotic arm as described in any one of the above, and a light source connected to an end effector of the robotic arm.

Optionally, the sunlight simulator further includes a support base, the main arm of the mechanical arm is disposed on the support base, the support base is further provided with a control box electrically connected to the mechanical arm for controlling the motion of the mechanical arm, and the support base is further provided with a roller for moving the support base.

The beneficial effects of the embodiment of the application include:

the utility model provides a manipulator and sunlight simulator, through setting up the effect piece on end effector to the gesture of effect piece is better more accurate controls, with better satisfying actual regulation and control needs. Through the second support arm connected with the end effector, when the second support arm rotates with the first support arm, the end effector is driven to adjust the spatial position. When the first support arm and the main arm rotate relatively, the second support arm is driven to adjust the space position, and therefore the end effector is driven to adjust the position. Because the rotating plane of the first support arm relative to the main arm is vertical to the rotating plane of the second support arm relative to the first support arm, the end effector can be driven to adjust in different spatial dimensions, so that the posture and the direction of the acting element can be better adjusted, and diversified adjusting forms are met. In the action piece adjusting process, adjustment is not needed through modes such as dismounting, the adjusting mode can be simplified, and the operation difficulty is reduced.

Drawings

In order to more clearly illustrate the technical solutions of the embodiments of the present application, the drawings that are required to be used in the embodiments will be briefly described below, it should be understood that the following drawings only illustrate some embodiments of the present application and therefore should not be considered as limiting the scope, and for those skilled in the art, other related drawings can be obtained from the drawings without inventive effort.

FIG. 1 is a schematic structural diagram of a robotic arm according to an embodiment of the present disclosure;

fig. 2 is a schematic structural diagram of a main arm connected to a first arm according to an embodiment of the present application;

FIG. 3 is an enlarged view of a portion of FIG. 2 at A;

FIG. 4 is a schematic structural diagram illustrating a connection between a first support arm and a second support arm according to an embodiment of the present disclosure;

FIG. 5 is a schematic structural view of a second bracket coupled to a boom beam according to an embodiment of the present disclosure;

FIG. 6 is a schematic diagram of a second arm coupled to an end effector according to an embodiment of the present disclosure;

FIG. 7 is a schematic structural diagram of an end effector provided in an embodiment of the present application;

fig. 8 is a schematic structural diagram of a solar simulator provided in an embodiment of the present application.

Icon: 100-a robotic arm; 110-a main arm; 112-a first connection seat; 114-a first bearing flange; 116-a first motor; 118-a first transfer gear; 120-a first support arm; 122-a second connecting seat; 124-a first gear plate; 126-a limiting disc; 130-a second support arm; 131-a first bracket; 132-a second support; 133-a linker arm; 134-linear drive; 135-a mounting seat; 136-a second bearing flange; 137-a second motor; 138-a second drive gear; 140-an end effector; 142-arm beam; 143-a third connecting seat; 145-a second gear wheel; 146-a drive assembly; 1462-first motor; 1464-second motor; 147-a sleeve; 1472-a drive shaft; 1473-first idler; 1474-a screw rod; 1475-nut; 1476-second idler; 148-a first connection assembly; 149-a second connection assembly; 200-a solar simulator; 210-a light source; 220-a support base; 230-a control box; 240-roller.

Detailed Description

In order to make the objects, technical solutions and advantages of the embodiments of the present application clearer, the technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the drawings in the embodiments of the present application, and it is obvious that the described embodiments are some embodiments of the present application, but not all embodiments. The components of the embodiments of the present application, generally described and illustrated in the figures herein, can be arranged and designed in a wide variety of different configurations.

Thus, the following detailed description of the embodiments of the present application, presented in the accompanying drawings, is not intended to limit the scope of the claimed application, but is merely representative of selected embodiments of the application. 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 application.

It should be noted that: like reference numbers and letters refer to like items in the following figures, and thus, once an item is defined in one figure, it need not be further defined and explained in subsequent figures. Furthermore, the terms "first," "second," and the like are used merely to distinguish one description from another, and are not to be construed as indicating or implying relative importance.

In the description of the present application, it is also to be noted that, unless otherwise explicitly specified or limited, the terms "disposed" and "connected" are to be interpreted broadly, e.g., as being either fixedly connected, detachably connected, or integrally connected; can be mechanically or electrically connected; they may be connected directly or indirectly through intervening media, or they may be interconnected between two elements. The specific meaning of the above terms in the present application can be understood in a specific case by those of ordinary skill in the art.

Referring to fig. 1, the present embodiment provides a robot arm 100, including a main arm 110 and a first arm 120 rotatably connected to the main arm 110, wherein the first arm 120 is rotatably connected to a second arm 130, the second arm 130 is provided with an end effector 140, and the end effector 140 is used for connecting a acting element, wherein a rotation plane of the first arm 120 relative to the main arm 110 is perpendicular to a rotation plane of the second arm 130 relative to the first arm 120.

Specifically, the main arm 110 may be disposed on a fixed carrier or a movable carrier, so as to be flexibly disposed according to an actual use environment, and the first arm 120 may be rotated by a predetermined angle with respect to the main arm 110 by the first arm 120 rotatably coupled to the main arm 110, so as to achieve a desired position conversion. By rotationally coupling the second arm 130 to the first arm 120, the range of rotation of the second arm 130 is superimposed on the range of rotation of the first arm 120 to provide a wider range of adjustment. By providing the end effector 140 on the second arm 130, it is advantageous to perform fine adjustments by the end effector 140 after the approximate range has been adjusted by the first arm 120 and the second arm 130, to ensure the required positioning accuracy and flexibility in operating the acting elements. By arranging the rotation plane of the first arm 120 with respect to the main arm 110 and the rotation plane of the second arm 130 with respect to the first arm 120 to be perpendicular to each other, the spatial positions of the end effector 140 in different dimensions can be adjusted by the rotation of the first arm 120 and the rotation of the second arm 130, thereby satisfying a multi-directional adjustment form.

In addition, the present embodiment does not specifically limit the arrangement form (length, type) of the main arm 110, the first arm 120, and the second arm 130, as long as the required support function can be achieved. For example, the main arm 110, the first arm 120, and the second arm 130 may be in the form of posts, or other connecting frames, to ensure a better fit connection between the components and the robot arm 100. The acting element disposed on the end effector 140 may be a light source 210, a manipulator, a brush, a drill, or the like, which is not specifically described in the embodiments of the present application.

The mechanical arm 100 provided by the embodiment of the application controls the posture of the acting piece better and more accurately by arranging the acting piece on the end effector 140, so as to better meet the actual regulation and control requirement. The second arm 130 connected to the end effector 140 drives the end effector 140 to adjust the spatial position when the second arm 130 rotates with the first arm 120. When the first arm 120 and the main arm 110 rotate relatively, the second arm 130 is driven to adjust the spatial position, so as to drive the end effector 140 to adjust the position. Since the rotation plane of the first arm 120 relative to the main arm 110 is perpendicular to the rotation plane of the second arm 130 relative to the first arm 120, the end effector 140 can be driven to adjust in different spatial dimensions, so as to better adjust the posture and the orientation of the acting element, thereby satisfying diversified adjustment forms. In the action piece adjusting process, adjustment is not needed through modes such as dismounting, the adjusting mode can be simplified, and the operation difficulty is reduced.

As shown in fig. 2 and 3, the main arm 110 includes a first connecting seat 112, the first support arm 120 includes a second connecting seat 122, the first connecting seat 112 is connected to an outer ring of the first bearing flange 114, the second connecting seat 122 is connected to an inner ring of the first bearing flange 114 through a first gear plate 124, a first motor 116 is disposed on the first connecting seat 112 or the second connecting seat 122, and the first motor 116 is engaged with the first gear plate 124 through a first transmission gear 118.

Specifically, the first connecting seat 112 and the second connecting seat 122 may be connecting flanges, and when the main arm 110 is rotatably connected to the first arm 120, the first bearing flange 114 may be used as a carrier for connection, so as to achieve relative rotation between the main arm 110 and the first arm 120. Meanwhile, in order to provide power for the rotation of the first arm 120, the second connecting seat 122 is connected to the inner ring of the first bearing flange 114 through the first gear plate 124, and the first connecting seat 112 is connected to the outer ring of the first bearing flange 114, so that when the first gear plate 124 rotates, the inner ring of the first bearing flange 114 and the first arm 120 are driven to rotate synchronously. When the first motor 116 is disposed on the first connecting base 112, the first motor 116 is fixed to the first connecting base 112, and the first motor 116 is engaged with the first gear plate 124 through the first transmission gear 118 to drive the first gear plate 124 to rotate. When first motor 116 sets up on second connecting seat 122, first motor 116 and second connecting seat 122 relatively fixed, first motor 116 passes through first drive gear 118 and meshes with first gear dish 124 to drive first gear dish 124 and rotate, and at this moment, first motor 116 and first support arm 120 synchronous rotation simultaneously, first drive gear 118 and first gear dish 124 rotate relatively.

In an optional embodiment of the present application, a limiting disc 126 may be further disposed between the second connecting seat 122 and the first gear disc 124, the first motor 116 is fixedly connected to the first connecting seat 112 or the second connecting seat 122 through a fixing seat, a proximity switch is disposed on the fixing seat, a boss is correspondingly disposed on the limiting disc 126, and when the proximity switch corresponds to the boss, a limit position of the rotation of the second connecting seat 122 is sensed, so that a controller connected to the robot arm 100 timely turns off the motion of the first motor 116, which is beneficial to ensuring stability of the robot arm 100 during operation.

As shown in fig. 4, the second arm 130 includes a first bracket 131 and a second bracket 132, and a connecting arm 133 disposed between the first bracket 131 and the second bracket 132, wherein the first bracket 131, the second bracket 132 and the connecting arm 133 form a parallelogram structure, the first bracket 131 is fixedly connected to the first arm 120, and the first arm 120 is connected to the connecting arm 133 through a linear actuator 134.

Specifically, the first bracket 131 is connected to an end of the first arm 120 away from the main arm 110, and hinge holes are respectively formed in the first bracket 131 and the second bracket 132, so that the connecting arm 133 is respectively hinged to the first bracket 131 and the second bracket 132, thereby forming a parallelogram structure among the first bracket 131, the second bracket 132 and the connecting arm 133. In this way, the connecting arm 133 rotates relative to the first bracket 131 and the second bracket 132 through the linear telescopic motion of the linear driving assembly 146, and the included angle between the second arm 130 and the first arm 120 is changed, so that the purpose of relative rotation between the first arm 120 and the second bracket 132 is achieved through the change of the relative positions between the connecting arm 133 and the first bracket 131 and the second bracket 132.

In alternative embodiments of the present application, the linear drive 134 includes any one of a linear motor, an electric push rod, a hydraulic cylinder, or an air cylinder. The air cylinder or the hydraulic cylinder can be flexibly arranged according to actual needs, and for example, when a driving mode of compressed air or hydraulic oil is more convenient in a factory with a hydraulic station or an air compressor, the air cylinder or the hydraulic cylinder can be adopted. In general places, when the electric power is convenient, an electric push rod or a linear motor can be adopted to realize the required driving.

As shown in fig. 5, the second bracket 132 is provided with a mounting seat 135, the end effector 140 includes a support arm cross member 142, and a third connecting seat 143 provided on the support arm cross member 142, the mounting seat 135 is connected to an outer ring of the second bearing flange 136, the third connecting seat 143 is connected to an inner ring of the second bearing flange 136 through a second gear disc 145, the mounting seat 135 or the third connecting seat 143 is provided with a second motor 137, and the second motor 137 is engaged with the second gear disc 145 through a second transmission gear 138.

Specifically, the mounting seat 135 and the third connecting seat 143 may be connecting flanges, and when the second bracket 132 is rotatably connected to the arm beam 142, the second bearing flange 136 may be used as a carrier for the connection, so as to achieve the relative rotation between the second bracket 132 and the arm beam 142. Meanwhile, in order to provide power required for rotation to the arm beam 142, the third connecting seat 143 is connected to the inner ring of the second bearing flange 136 through the second gear disc 145, the mounting seat 135 is connected to the outer ring of the second bearing flange 136, and when the second gear disc 145 rotates, the inner ring of the second bearing flange 136 and the arm beam 142 are driven to rotate synchronously. When the second motor 137 is disposed on the mounting seat 135, the first motor 116 is fixed relative to the mounting seat 135, and the second motor 137 is engaged with the second gear wheel 145 through the second transmission gear 138 to drive the second gear wheel 145 to rotate. When the second motor 137 is arranged on the third connecting seat 143, the second motor 137 and the third connecting seat 143 are relatively fixed, the second motor 137 is meshed with the second gear wheel disc 145 through the second transmission gear 138 to drive the second gear wheel disc 145 to rotate, and at the moment, the second motor 137 and the support arm cross beam 142 synchronously rotate, and meanwhile, the second transmission gear 138 and the second gear wheel disc 145 relatively rotate.

In an optional embodiment of the present application, a limiting disc may be disposed between the third connecting seat 143 and the second gear wheel disc 145, the second motor 137 is fixedly connected to the mounting seat 135 or the third connecting seat 143 through a fixing seat, a proximity switch is disposed on the fixing seat, and a boss is correspondingly disposed on the limiting disc, when the proximity switch corresponds to the boss, a rotational limit position of the third connecting seat 143 is sensed, so that a controller connected to the mechanical arm 100 timely turns off the second motor 137, thereby facilitating ensuring stability of the mechanical arm 100 during operation. It can be understood that a boss can be directly arranged on the second gear wheel disc 145, and the arrangement form of the limiting disc is eliminated, so that the same purpose is achieved.

As shown in fig. 6, the end effector 140 further includes a driving assembly 146 disposed on the arm beam 142, the arm beam 142 is further provided with a rotation-translation assembly respectively connected to the driving assembly 146, the rotation-translation assembly includes a sleeve 147, and a first connecting assembly 148 and a second connecting assembly 149 respectively disposed on the sleeve 147, the first connecting assembly 148 and the second connecting assembly 149 are used for connecting to the acting element, wherein the first connecting assembly 148 and the second connecting assembly 149 can rotate around the sleeve 147, the first connecting assembly 148 can slide along the extending direction of the sleeve 147, and the second connecting assembly 149 is located outside the sliding range of the first connecting assembly 148.

Specifically, the second connecting assembly 149 and the second connecting assembly 149 act together on the acting element to provide a connected bridge for spatial transformation and attitude transformation of the acting element. Illustratively, the first connecting assembly 148 and the second connecting assembly 149 rotate about the sleeve 147 to rotate the acting element a specific angle to point at different positions as desired. The first connecting assembly 148 can also slide along the extending direction of the sleeve 147, and during the sliding process of the first connecting assembly 148 along the sleeve 147, the acting element is driven to make a corresponding state transition, such as a pitching motion of the acting element.

It can be understood that, when the first connecting assembly 148 and the second connecting assembly 149 are connected to the acting element, they can be connected to the acting element through the connecting rod, so that the first connecting assembly 148, the second connecting assembly 149, the connecting rod and the acting element form a quadrilateral structure, when the first connecting assembly 148 slides along the extending direction of the sleeve 147, the acting element can have actions such as pitching or lifting, and when the first connecting assembly 148 and the second connecting assembly 149 rotate around the sleeve 147, the acting element is driven to synchronously rotate by a corresponding angle, thereby realizing diversified adjustment and control of the acting element.

As shown in fig. 7, the rotational-translational assembly further includes a transmission shaft 1472 and a lead screw 1474 rotatably connected to the arm beam 142, the driving assembly 146 is respectively in transmission connection with the transmission shaft 1472 and the lead screw 1474, the lead screw 1474 is located in the sleeve 147, the lead screw 1474 is in transmission connection with the first connecting assembly 148 through a nut 1475, and the transmission shaft 1472 is in transmission connection with the second connecting assembly 149.

Specifically, the transmission shaft 1472 and the lead screw 1474 are respectively rotatably connected to the arm beam 142, and when the driving assembly 146 is respectively rotatably connected to the transmission shaft 1472 and the lead screw 1474, the transmission shaft 1472 or the lead screw 1474 is driven to rotate, and the transmission shaft 1472 and the lead screw 1474 are also driven to rotate. When the driving shaft 1472 rotates, the second connecting assembly 149 is driven to rotate around the sleeve 147 by the driving shaft 1472, and when the screw 1474 rotates, the first connecting assembly 148 is driven to slide along the sleeve 147 by the nut 1475. Since the first connection assembly 148 and the second connection assembly 149 are connected to the acting member, respectively, when the second connection assembly 149 rotates around the sleeve 147, the second connection assembly 149 rotates synchronously around the sleeve 147 by the acting member to achieve the adjustment of the posture of the acting member.

As shown in fig. 6 and 7, the driving assembly 146 includes a first motor 1462 and a second motor 1464 provided on the arm beam 142, the output end of the first motor 1462 is provided with a first synchronizing wheel, and the output end of the second motor 1464 is provided with a second synchronizing wheel; one end of the transmission shaft 1472 close to the support arm beam 142 is provided with a first idle wheel 1473, one end of the screw rod 1474 close to the support arm beam 142 is provided with a second idle wheel 1476, the first synchronous wheel is connected with the first idle wheel 1473 through a first synchronous belt, and the second synchronous wheel is connected with the second idle wheel 1476 through a second synchronous belt.

Specifically, with the above-mentioned form, the first motor 1462 can drive the transmission shaft 1472 to rotate, and the second motor 1464 can drive the screw 1474 to rotate, and the first motor 1462 and the second motor 1464 can be selectively started at the same time or only one of them can be started as required, so that the transmission shaft 1472 can drive the second connecting assembly 149 to rotate, and the screw 1474 can drive the first connecting assembly 148 to slide along the sleeve 147, so that the transmission structure is more compact, and the space utilization rate is improved.

As shown in fig. 8, the present embodiment further provides a solar simulator 200, which includes the robot arm 100 in the foregoing embodiment, and a light source 210 connected to the end effector 140 of the robot arm 100. The solar simulator 200 includes the same structure and benefits as the robot arm 100 of the previous embodiment. The structure and advantages of the robot arm 100 have been described in detail in the foregoing embodiments, and will not be described in detail herein.

As shown in fig. 8, the solar simulator 200 further includes a support base 220, the main arm 110 of the robot arm 100 is disposed on the support base 220, the support base 220 is further provided with a control box 230 electrically connected to the robot arm 100 for controlling the operation of the robot arm 100, and the support base 220 is further provided with rollers 240 for moving the support base 220.

Specifically, the control box 230 is disposed on the supporting base 220, which is beneficial to lifting the self weight of the supporting base 220, so that the center of gravity of the solar simulator 200 is more stable, and the occurrence of side turning is avoided. The roller 240 may be a universal wheel with a brake, which facilitates temporary movement and fixation of the support base 220. In addition, the control box 230 disposed on the supporting base 220 is respectively connected to driving components (such as the first motor 116 and the second motor 137) of the robot arm 100 to control the motion of the robot arm 100, which is beneficial to simplifying the adjustment form of the solar simulator 200 and reducing the operation difficulty.

The above description is only a preferred embodiment of the present application and is not intended to limit the present application, and various modifications and changes may be made by those skilled in the art. Any modification, equivalent replacement, improvement and the like made within the spirit and principle of the present application shall be included in the protection scope of the present application.

Claims (10)

1. A mechanical arm is characterized by comprising a main arm and a first support arm rotatably connected with the main arm, wherein the first support arm is rotatably connected with a second support arm, an end effector is arranged on the second support arm and is used for connecting an acting element, and the rotating plane of the first support arm relative to the main arm is vertical to the rotating plane of the second support arm relative to the first support arm.

2. The mechanical arm as claimed in claim 1, wherein the main arm comprises a first connecting seat, the first support arm comprises a second connecting seat, the first connecting seat is connected with the outer ring of the first bearing flange, the second connecting seat is connected with the inner ring of the first bearing flange through a first gear disc, and a first motor is arranged on the first connecting seat or the second connecting seat and is meshed with the first gear disc through a first transmission gear.

3. The mechanical arm as claimed in claim 1, wherein the second arm comprises a first bracket and a second bracket, and a connecting arm arranged between the first bracket and the second bracket, wherein the first bracket, the second bracket and the connecting arm form a parallelogram structure, the first bracket is fixedly connected with the first arm, and the first arm is connected with the connecting arm through a linear driving member.

4. A robotic arm as claimed in claim 3, in which the linear drive comprises any one of a linear motor, an electric push rod, a hydraulic cylinder or an air cylinder.

5. A mechanical arm according to claim 3 or 4, wherein a mounting seat is arranged on the second support, the end effector comprises a support arm cross beam, and a third connecting seat is arranged on the support arm cross beam, the mounting seat is connected with the outer ring of the second bearing flange, the third connecting seat is connected with the inner ring of the second bearing flange through a second gear disc, and a second motor is arranged on the mounting seat or the third connecting seat, and the second motor is meshed with the second gear disc through a second transmission gear.

6. The mechanical arm according to claim 5, wherein the end effector further comprises a driving assembly disposed on the arm beam, the arm beam is further provided with a rotational-translational assembly respectively connected with the driving assembly, the rotational-translational assembly comprises a sleeve, and a first connecting assembly and a second connecting assembly respectively disposed on the sleeve, the first connecting assembly and the second connecting assembly are used for connecting with the acting element, wherein the first connecting assembly and the second connecting assembly can rotate around the sleeve, the first connecting assembly can slide along the extending direction of the sleeve, and the second connecting assembly is located outside the sliding range of the first connecting assembly.

7. The mechanical arm according to claim 6, wherein the rotation-translation assembly further comprises a transmission shaft and a lead screw rotatably connected with the arm beam, the driving assembly is respectively in transmission connection with the transmission shaft and the lead screw, the lead screw is located in the sleeve, the lead screw is in transmission connection with the first connecting assembly through a nut, and the transmission shaft is in transmission connection with the second connecting assembly.

8. The robotic arm of claim 7, wherein the drive assembly comprises a first motor and a second motor disposed on the arm beam, the output of the first motor being provided with a first synchronizing wheel, the output of the second motor being provided with a second synchronizing wheel; the transmission shaft is close to the one end of support arm crossbeam is provided with first idler, the lead screw is close to the one end of support arm crossbeam is provided with the second idler, first synchronous pulley through first hold-in range with first idler is connected, the second synchronous pulley through the second hold-in range with the second idler is connected.

9. A solar simulator comprising the robotic arm of any one of claims 1-8, and a light source connected to an end effector of the robotic arm.

10. The solar simulator of claim 9, further comprising a support base, wherein the main arm of the robot is disposed on the support base, the support base is further provided with a control box electrically connected to the robot for controlling the operation of the robot, and the support base is further provided with a roller for moving the support base.

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