CN216543386U - Mechanical arm - Google Patents

Abstract

The utility model provides a mechanical arm which comprises a frame body, wherein a vertical through hole is formed in the frame body; the moving assembly is arranged in the frame body and can move along the inner wall of the frame body, and the moving assembly comprises a sliding part; the rotating assembly is fixedly arranged on the moving assembly and can rotate relative to the moving assembly, the rotating assembly is provided with a sliding groove with a preset track, the sliding part is slidably arranged in the sliding groove, and the rotating assembly rotates along the preset track of the sliding groove; and the mechanical arm assembly is arranged in the frame body and is fixedly installed on the rotating assembly, the mechanical arm assembly corresponds to the through hole and is gradually extended out of the frame body from the through hole along with the rotation of the rotating assembly, the moving assembly and the rotating assembly are arranged, and the mechanical arm assembly is driven to move by the rotating assembly and the moving assembly, so that the mechanical arm assembly is extended out of the frame body, and the tank body is convenient to clean, maintain and the like.

Description

Mechanical arm

Technical Field

The utility model relates to the technical field of automation, in particular to a mechanical arm.

Background

Storage jar all is comparatively big usually, has a darker jar body, so when clearing up the storage jar, need build large-scale pylon in the periphery of storage jar, remove through buckling many times and just can hang into jar internal portion with long arm manipulator to the maintenance work such as clearing up, maintenance is carried out to the inside of jar body, and whole operation process is very loaded down with trivial details, and the operation complexity is high.

SUMMERY OF THE UTILITY MODEL

In view of the above, there is a need for an improved robot arm, in which a rotating assembly and a moving assembly are disposed on the robot arm, so that the bent robot arm assembly extends out of a frame of the robot arm under the driving of the rotating assembly and the moving assembly, and the tank body can be maintained by performing maintenance work such as cleaning and repairing on the tank body.

The utility model provides a mechanical arm which comprises a frame body, wherein a vertical through hole is formed in the frame body; the moving assembly is arranged in the frame body and can move along the inner wall of the frame body, and the moving assembly comprises a sliding part; the rotating assembly is fixedly arranged on the moving assembly and can rotate relative to the moving assembly, a sliding groove with a preset track is formed in the rotating assembly, the sliding part is slidably arranged in the sliding groove, and the rotating assembly rotates along the preset track of the sliding groove; and the mechanical arm assembly is arranged in the frame body and fixedly installed on the rotating assembly, the mechanical arm assembly corresponds to the through hole, and the mechanical arm assembly gradually extends out of the frame body along with the rotation of the rotating assembly through the through hole.

So set up, set up removal subassembly and rotating assembly to drive the arm of mechanical subassembly through rotating assembly and removal subassembly and remove, make the arm of mechanical subassembly stretch out the framework, so that clean the jar body.

Furthermore, the rotating assembly comprises a rotating cylinder body and a rotating shaft, the rotating shaft can rotate relative to the rotating cylinder body, the rotating cylinder body is fixedly installed on the mechanical arm assembly, and two ends of the rotating shaft are fixedly installed on the moving assembly, so that the mechanical arm assembly can rotate relative to the frame body.

So set up, through setting up rotation cylinder body and axis of rotation, through the relative rotation between rotation cylinder body and the axis of rotation for it can drive the arm subassembly and rotate to rotate.

Further, the rotating assembly further comprises a fixing frame, sliding grooves with preset tracks are formed in two opposite sides of the fixing frame, the moving assembly comprises a fixing plate, the fixing plate is provided with sliding portions corresponding to the sliding grooves, the sliding portions are slidably mounted in the sliding grooves and can slide along the sliding grooves, and therefore the rotating assembly slides along the sliding grooves with the preset tracks.

So set up, through set up predetermineeing the spout on the mount to set up in the mutual corresponding sliding part of spout, so that runner assembly and arm subassembly rotate along predetermineeing the orbit.

Further, the moving assembly comprises a horizontal moving unit and a vertical moving unit, the vertical moving unit is fixedly installed inside the frame body, the horizontal moving unit is fixedly installed on the vertical moving unit, and the end part of the rotating shaft is fixedly installed on the horizontal moving unit.

According to the arrangement, the first arm can move horizontally along the frame and can move vertically along the frame through the arrangement of the horizontal moving unit and the vertical moving unit.

Further, the vertical moving unit further comprises a lifting motor, a lifting rod and a lifting piece, wherein the lifting motor is arranged at the end part of the frame body, one end of the lifting rod is fixedly arranged on the lifting motor and rotates along with the lifting motor, the lifting piece is sleeved on the lifting rod, and the lifting piece is fixedly arranged on the horizontal moving unit.

So set up, through setting up lift electrode, lifter and lifter for the horizontal migration unit can rise or descend along the lifter through the interact of lifter and lifter.

Further, the vertical moving unit comprises a second sliding block and a second sliding support, the second sliding support is fixedly mounted on the frame body, the second sliding block is slidably mounted on the second sliding support, two ends of the horizontal moving unit are fixedly mounted on the second sliding block, and the horizontal moving unit slides along the second sliding support.

According to the arrangement, the second sliding support and the second sliding block are arranged, so that the horizontal moving unit can slide up and down.

Further, the horizontal movement unit comprises a first sliding support, a first sliding block and a fixed plate, the fixed plate is fixedly mounted on the second sliding block, the lifting piece is fixedly mounted on the fixed plate, the first sliding support is fixedly mounted on the fixed plate, the first sliding block is slidably mounted on the first sliding support, and the end part of the rotating shaft is fixedly mounted on the first sliding block.

So set up for rotating assembly can be through first sliding support, first slider and fixed plate relative framework and do the horizontal slip.

Further, the arm subassembly includes first horn, second horn and third horn, first horn fixed mounting in the mount, the one end of first horn rotate connect in the one end of second horn, the third horn rotate connect in the other end of second horn.

So set up for first horn, second horn and third horn can be buckled relatively, thereby can save usage space.

Further, the mechanical arm assembly comprises a telescopic unit, the telescopic unit is arranged in the mechanical arm assembly and comprises a first telescopic rod, the first telescopic rod is arranged in the first machine arm, one end of the first telescopic rod is fixedly arranged on the first machine arm, and the other end of the first telescopic rod is rotatably arranged on the second machine arm; and

the telescopic unit comprises a second telescopic rod, the second telescopic rod is arranged in the second machine arm, one end of the second telescopic rod is rotatably arranged at one end of the second machine arm, and the other end of the second telescopic rod is rotatably arranged at the third machine arm.

So set up, through setting up flexible unit for the second horn can initiatively rotate relative first horn, makes the relative second horn rotation that the third horn can initiatively.

Further, the first horn and/or the third horn are telescopic arms.

So set up, improve the home range of mechanical arm subassembly.

According to the improved mechanical arm, the rotating assembly and the moving assembly are arranged on the mechanical arm, so that the bent mechanical arm assembly extends out of the frame body of the mechanical arm under the driving of the rotating assembly and the moving assembly, and maintenance work such as cleaning and maintenance can be performed on the interior of a tank body, and the tank body can be maintained.

Drawings

FIG. 1 is a schematic structural diagram of a robot arm according to the present invention;

FIG. 2 is a schematic view of the robot shown in FIG. 1 from another perspective;

fig. 3 is a schematic structural diagram of the robot arm shown in fig. 1 from another view angle.

100. A robot arm; 10. a frame body; 20. a mechanical arm assembly; 21. a first arm; 22. a second arm; 23. a third arm; 30. a rotating assembly; 31. rotating the cylinder body; 32. a rotating shaft; 33. a fixed mount; 331. a chute; 40. a moving assembly; 41. a horizontal moving unit; 411. a first sliding bracket; 412. a first slider; 413. a fixing plate; 4131. a sliding part; 42. a vertical moving unit; 421. a second slider; 422. a second sliding bracket; 423. a lifting motor; 424. a lifting rod; 425. a lifting member; 50. a telescopic unit; 51. a first telescopic rod; 52. and a second telescopic rod.

Detailed Description

The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present invention, and it is apparent 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 obtained by a person skilled in the art without any inventive step based on the embodiments of the present invention, are within the scope of the present invention.

It will be understood that when an element is referred to as being "mounted on" another element, it can be directly mounted on the other element or intervening elements may also be present. When a component is referred to as being "disposed on" another component, it can be directly on the other component or intervening components may also be present. When an element is referred to as being "secured to" another element, it can be directly secured to the other element or intervening elements may also be present.

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 herein in the description of the utility model is for the purpose of describing particular embodiments only and is not intended to be limiting of the utility model. As used herein, the term "or/and" includes any and all combinations of one or more of the associated listed items.

The existing material or liquid storage tank is usually high and large, and has a deep tank body, so that when the storage tank is cleaned, a large tower needs to be built at the periphery of the storage tank, the long-arm mechanical arm can be hung and arranged in the tank body through bending and moving for many times, and therefore maintenance work such as cleaning and maintenance is carried out on the inside of the tank body, the whole operation process is very complicated, and the operation complexity is high.

In order to solve the technical problems, the utility model provides an improved mechanical arm, wherein a rotating assembly and a moving assembly are arranged on the mechanical arm, so that the bent mechanical arm assembly extends out of a frame body of the mechanical arm under the driving of the rotating assembly and the moving assembly, and the maintenance work such as cleaning and maintenance can be performed on the interior of a tank body, so that the tank body can be maintained.

In the present invention, the robot arm 100 includes a frame 10, a robot arm assembly 20, a rotating assembly 30 and a moving assembly 40, wherein the frame 10 is hollow for accommodating the robot arm assembly 20; the rotating assembly 30 is fixedly installed on the mechanical arm assembly 20, and the rotating assembly 30 is used for driving the mechanical arm assembly 20 to rotate around the rotating assembly 30; the moving assembly 40 is disposed on the inner wall of the frame 10, and two ends of the rotating assembly 30 are fixedly mounted on the moving assembly 40, so as to drive the robot arm assembly 20 to move along the vertical direction and the horizontal direction.

It should be noted that, in the present embodiment, the robot arm 100 is used for cleaning a can body, but the present invention is not limited to the application field of the robot arm 100, and in other embodiments, the robot arm 100 may also be used in the technical fields of picking and placing articles in a long and narrow scene, or performing operation actions, etc., as long as the robot arm 100 can achieve the preset expectation.

In one embodiment of the present invention, the frame 10 is used for accommodating the bending robot arm assembly 20, the rotating assembly 30 and the moving assembly 40.

Specifically, the frame 10 is substantially in a hollow rectangular parallelepiped shape, and the top surface and one side surface of the frame 10 are communicated with each other, so as to prevent the top surface and the side surface of the frame 10 from blocking the rotation of the robot arm assembly 20 in the rotation process of the robot arm assembly 20; the middle parts of two side edges adjacent to the hollowed side edges are also hollowed out, so that the moving assembly 40 can move along the length direction of the side edges of the frame body 10 conveniently; meanwhile, a through hole is opened at the top of the frame 10 so that the robot arm assembly 20 can protrude out of the frame 10 through the through hole.

In this way, the frame 10 is hollowed out, so that the robot assembly 20 and the moving assembly 40 are disposed in the frame 10, and the robot arm 100 is convenient to install and maintain.

It is to be understood that the present invention is not limited to the frame 10 having a hollow rectangular parallelepiped shape, and in other embodiments, the frame 10 may be configured as a closed chamber as long as a space for the robot arm assembly 20 to rotate is reserved.

In one embodiment of the present invention, the moving assembly 40 includes a horizontal moving unit 41 and a vertical moving unit 42, the horizontal moving unit 41 is used for driving the robot assembly 20 to move in the horizontal direction, and the vertical moving unit 42 is used for driving the robot assembly 20 to move in the vertical direction.

Specifically, the vertical moving units 42 are respectively installed at two opposite sides of the frame body 10 and sandwich side surfaces communicated with the top surface, the vertical moving units 42 are symmetrically arranged about a center line of the frame body 10, each vertical moving unit 42 includes a second slider 421, a second sliding support 422 and a fixing plate 413, the second sliding supports 422 are substantially in a long strip shape, the number of the second sliding supports 422 is two, frames at two sides of the two second sliding supports 422 along the side surfaces are vertically arranged, the second sliders 421 are slidably installed on the second sliding supports 422, the number of the sliders is four, and two sliders are respectively arranged on the sliding support at one side; the fixing plate 413 is substantially rectangular, the fixing plate 413 is disposed inside the sliding bracket, two ends of the fixing plate 413 are respectively mounted on the sliding blocks on the sliding brackets on two sides, and each end of the fixing plate 413 is fixedly mounted on the sliding block, so that the fixing plate 413 can slide along the sliding bracket.

In this arrangement, the fixing plate 413 fixed to the slider can slide along the sliding bracket by providing the sliding bracket on the frame of the housing 10 and slidably attaching the slider to the sliding bracket.

It can be understood that the present invention is not limited to the sliding connection manner of the fixing plate 413 and the frame, and in other embodiments, the frame may be a cylindrical frame, the two ends of the fixing plate 413 are provided with linear bearings, and the linear bearings are sleeved on the cylindrical frame, so that the fixing plate 413 can also move up and down along the cylindrical frame.

In addition, in order to drive the mounting member to move, the vertical moving unit 42 further includes a lifting motor 423, a lifting rod 424 and a lifting member 425, the lifting electrode is used for driving the lifting rod 424 to rotate, and the lifting member 425 is used for cooperating with the lifting rod 424 to drive the fixing plate 413 to lift.

Specifically, the lifting electrode is fixedly installed on the top of the side portion provided with the fixing plate 413, one end of the lifting rod 424 is fixedly installed on the output end of the lifting motor 423 and is arranged along the length direction of the side frame body 10, and the outer periphery of the lifting rod 424 is provided with an external thread; the mounting hole that runs through the mounting panel is seted up at the middle part of mounting panel, and lifter 425 fixed mounting is in the mounting hole, and lifter 425 sets up the through-hole that allows lifter 424 to pass through, and be equipped with in this through-hole with the internal thread that lifter 424's external screw thread was mutually supported, the external screw thread through lifter 424 is mutually supported with lifter 425's internal thread for lifter 424 can drive fixed plate 413 and rise or descend along lifter 424 at the pivoted in-process.

So set up, through setting up elevator motor 423, lifter 424 and lifter 425 for the rotation through lifter 424 drives fixed plate 413 and goes up and down along the length direction of lifter 424, thereby drives arm assembly 20 and reciprocates.

It is to be understood that the present invention is not limited to the fixing plate 413 being lifted and lowered along with the rotation of the lifting rod 424 by the threaded engagement of the lifting rod 424 and the lifting member 425, and in other embodiments, the fixing plate 413 may be lifted and lowered by providing a pneumatic or hydraulic transmission.

In addition, the moving assembly 40 further includes a horizontal moving unit 41, the horizontal moving unit 41 is respectively provided with two fixing plates 413, the horizontal moving unit 41 includes a first sliding bracket 411, a second sliding block 421 and a mounting plate, the first sliding bracket 411 is substantially long and approximately equal to the fixing plate 413, the first sliding bracket 411 is fixedly mounted on the fixing plate 413, the first sliding bracket 411 is opposite to the frame of the vertical frame 10, the second sliding block 421 is slidably mounted on the first sliding bracket 411, the number of the second sliding blocks 421 is two, and the two sliding blocks are arranged at the first sliding bracket 411 at intervals; the mounting plate is substantially long, two ends of the mounting plate are fixedly mounted on the second slider 421, and the mounting plate slides along the first sliding bracket 411 through the second slider 421.

With this arrangement, the mounting plate, the first sliding bracket 411 and the slider are disposed on the fixing plate 413, so that the mounting plate is slidably mounted on the first sliding bracket 411 through the slider.

In an embodiment of the present invention, the rotating assembly 30 includes a rotating driver and a fixing frame 33, two ends of the rotating driver are respectively fixed to the mounting plate, the rotating driver is fixedly connected to the fixing frame 33, the rotating driver is configured to drive the robot arm assembly 20 to rotate, and the fixing frame 33 is configured to fix the robot arm assembly 20.

Specifically, the rotating driver includes a rotating shaft 32 and a rotating cylinder 31, wherein the rotating shaft 32 is sleeved in the rotating cylinder 31, the rotating shaft 32 can rotate relative to the rotating cylinder 31, two ends of the rotating shaft 32 are fixedly installed and connected to the installation plate of the moving assembly 40, and the rotating cylinder 31 is fixedly installed at the top of the fixed frame 33; the fixing frame 33 is substantially a rectangular parallelepiped, the fixing frame 33 is provided with an accommodating cavity, the robot arm assembly 20 is accommodated in the accommodating cavity, and the fixing frame 33 can rotate along with the rotation of the rotating cylinder 31 by rotating the rotating shaft 32 of the driver and the rotating cylinder 31 relatively, so that the fixing frame 33 can drive the robot arm assembly 20 to rotate.

So set up, through setting up rotation driver and mount 33 to can drive mount 33 through the rotation that rotates the driver and rotate, thereby can drive arm assembly 20 and rotate.

It is understood that the shape of the fixing frame 33 is not limited by the present invention, and in other embodiments, the fixing frame 33 may be configured to have a cylindrical shape as long as the fixing frame 33 can fix the mounting robot arm assembly 20.

In this embodiment, the mechanical arm assembly 20 is disposed on the fixing frame 33, and the mechanical arm assembly 20 is used for extending into the tank body to clean the inner wall of the tank body.

Specifically, the robot arm assembly 20 includes a first arm 21, a second arm 22 and a third arm 23, one end of the first arm 21 is rotatably connected to one end of the second arm 22, and the other end of the second arm 22 is rotatably mounted to the third arm 23; the first arm 21 and the third arm 23 are substantially cylindrical, one end of the first arm 21 is fixedly mounted at the bottom of the fixing frame 33, so as to fixedly mount the mechanical arm assembly 20 on the fixing frame 33, the other end of the first arm 21 is fixedly mounted with a first hinged part, the first hinged part is in a triangular prism shape, the first hinged part is hinged at one end of the second arm 22, so that the first hinged part can rotate relative to the second arm 22, one end of the third arm 23 is fixedly mounted with a second hinged part, the second hinged part is also in a triangular prism shape, and the second hinged part is hinged at the other end of the second arm 22, so that the second hinged part can rotate relative to the second arm 22, so that the first arm 21 and the third arm 23 can be bent relative to each other, the accommodating space of the mechanical arm assembly 20 is reduced, and the mechanical arm assembly 20 can be accommodated in the frame body 10.

It is to be understood that the present invention is not limited to the robot arm assembly 20 with reduced space occupation achieved by mutually bending the first, second and third arms 21, 22 and 23, and in other embodiments, a plurality of hinges or telescopic members may be provided as long as the storage space of the robot arm assembly 20 can be reduced.

In order to enable the first arm 21 to be capable of being turned over according to a preset turning path, two opposite side surfaces of the fixed frame 33 and the fixed plate 413 are provided with a bent sliding groove 331, one end of the fixed plate 413 is provided with a sliding portion 4131 accommodated in the sliding groove 331, and the sliding portion 4131 is matched with the sliding groove 331 to enable the first arm 21 to be capable of being turned over along the path of the bent sliding groove 331.

Specifically, a bent sliding groove 331 is formed in the fixed frame 33 on which the first arm 21 is mounted, a sliding portion 4131 is disposed at one end of the fixed plate 413, and the sliding portion 4131 is disposed in the fixed frame 33, so that the first arm 21 can move along a preset path of the sliding groove 331 in the process of turning, where a cam roller is used as an origin (xo, yo) of a global coordinate system xy, a central axis of the rotating assembly 30 is used as a rotation origin (xr, yr) of a local coordinate system x ' y ', coordinate points of two joints of the elbow are (x1, y1), (x2, y2), an inter-point distance is s, a distance from the second arm 22(x2, y2) to the rotation origin (xr, yr) is a fixed value r, and an included angle with an axis y ' in the local coordinate system x ' y ' is a fixed value β. The foregoing objectives of the cam canting mechanism can be described as: the local coordinate system x 'y' rotates and translates in the global coordinate system, and knowing that the angular velocity is ω, θ ═ ω t, when θ <90 degrees, the included angle between the elbow and the main rod is fixed, when θ ≧ 90 degrees, since the elbow joint is free, the elbow will remain vertical and no longer change with the rotation of the main rod, during the rotation, x1 needs to remain unchanged, i.e. the forearm always faces vertically downwards, i.e. the path of the chute 331 is obtained when θ <90 degrees, Δ x ═ s cos (α + ω t) -xr0-r sin (ω t- β); when θ is 90 degrees or more, Δ x ═ s × sin (α) -xr0-r × sin (ω t- β).

Besides, in order to enable the mechanical arm assembly 20 to actively bend and straighten, the mechanical arm assembly 20 includes a telescopic unit 50, the telescopic unit 50 includes a first telescopic rod 51 and a second telescopic rod 52, the first telescopic rod 51 is fixedly installed in the first machine arm 21 and is used for driving the first machine arm 21 and the second machine arm 22 to relatively bend and straighten; the second telescopic rod 52 is disposed inside the second arm 22, and is used for driving the second arm 22 to bend and straighten relatively between the third arms 23.

Specifically, in this embodiment, the second boom 22 is substantially rectangular, the second boom 22 is hollow, the end portions of the second boom 22 relatively close to the first boom 21 are respectively a first hinge column and a second hinge column, the first hinge column and the second hinge column are connected to the opposite inner wall of the second boom 22, an accommodating cavity is formed in the first boom 21 along the axial direction, the first telescopic rod 51 is installed in the accommodating cavity, one end of the first telescopic rod 51 is fixedly installed on the inner wall of the accommodating cavity of the first boom 21, the other end of the first telescopic rod 51 is rotatably installed on the first hinge column of the second boom 22, and the second boom 22 can rotate relative to the first boom 21 through the extension and retraction of the first telescopic rod 51; the second articulated elements is equipped with the third articulated column that is parallel to each other with the second articulated column, and second telescopic link 52 sets up in second horn 22, and the one end of second telescopic link 52 is rotated and is installed in the second articulated column, and the other end of second telescopic link 52 rotates and installs in the third articulated column, through the flexible of second telescopic link 52 to make third horn 23 rotate second horn 22 relatively.

With this arrangement, the second arm 22 and the third arm 23 can actively bend relative to the first arm 21 by providing the first telescopic rod 51 connecting the first arm 21 and the second arm 22 and the second telescopic rod 52 connecting the second arm 22 and the third arm 23.

It should be understood that the present invention is not limited to the rotation of the second arm 22 and the third arm 23 driven by the telescopic rod, and in other embodiments, the rotation of the second arm 22 relative to the first arm 21 may be driven by the rotation of a gear provided at the connection position of the first arm 21 and the second arm 22 and engaged with each other; the third mechanical arm 23 is driven to rotate relative to the second mechanical arm 22 through the rotation of the gears which are arranged at the connecting position of the second mechanical arm and the second mechanical arm 22 and are meshed with each other; the second arm 22 and the third arm 23 may be driven to rotate relative to the first arm 21.

In addition, in order to extend the robot arm assembly 20 into the mounting member as far as possible, in one embodiment of the present invention, the first boom 21 and the third boom 23 are provided as telescopic booms, and the third boom 23 can be extended into a specific position in the tank body according to actual environmental requirements, as long as the position in the tank body which needs to be cleaned can be reached.

It should be noted that, in order to make arm assembly 20 can be at internal rotation of jar after stretching into jar, in this embodiment, mount 33 is equipped with the rotation motor, the output shaft of rotation motor is equipped with the gear, the periphery that sets up in the first horn 21 of mount 33 is equipped with the ring gear, the gear of rotation motor and the peripheral ring gear intermeshing of first horn 21, the rotation through rotating the motor drives first horn 21 and third horn 23 and rotates, thereby be convenient for arm assembly 20 to stretch into the internal perisporium of the internal clearance jar of jar.

The features of the above-described embodiments may be arbitrarily combined, and for the sake of brevity, all possible combinations of the features in the above-described embodiments are not described, but should be construed as being within the scope of the present disclosure as long as there is no contradiction between the combinations of the features.

It should be understood by those skilled in the art that the above embodiments are only for illustrating the present invention and are not to be used as a limitation of the present invention, and that suitable changes and modifications of the above embodiments are within the scope of the claimed invention as long as they are within the spirit and scope of the present invention.

Claims (10)

1. A mechanical arm is characterized by comprising

The frame body (10) is provided with a vertical through hole;

a moving assembly (40) installed in the frame body (10), wherein the moving assembly (40) can move along the inner wall of the frame body (10), and the moving assembly (40) comprises a sliding part (4131); the rotating assembly (30) is fixedly installed on the moving assembly (40), the rotating assembly (30) can rotate relative to the moving assembly (40), a sliding groove (331) with a preset track is formed in the rotating assembly (30), the sliding portion (4131) is installed in the sliding groove (331) in a sliding mode, and the rotating assembly (30) rotates along the preset track of the sliding groove (331); and the number of the first and second groups,

the mechanical arm assembly (20) is arranged in the frame body (10) and fixedly mounted on the rotating assembly (30), the mechanical arm assembly (20) corresponds to the through hole, and the mechanical arm assembly (20) rotates along with the rotating assembly (30) and gradually extends out of the frame body (10) from the through hole.

2. A robot arm according to claim 1, characterized in that said rotating assembly (30) comprises a rotating cylinder (31) and a rotating shaft (32), said rotating shaft (32) being able to rotate relative to said rotating cylinder (31), said rotating cylinder (31) being fixedly mounted to said robot arm assembly (20), both ends of said rotating shaft (32) being fixedly mounted to said moving assembly (40) so that said robot arm assembly (20) is able to rotate relative to said frame (10).

3. A robot arm according to claim 2, wherein the rotating assembly (30) further comprises a fixed frame (33), opposite sides of the fixed frame (33) are provided with sliding grooves (331) with a predetermined track, the moving assembly (40) comprises a fixed plate (413), the fixed plate (413) is provided with the sliding portion (4131) corresponding to the sliding grooves (331), and the sliding portion (4131) is slidably mounted in the sliding grooves (331) and can slide along the sliding grooves (331) so as to enable the rotating assembly (30) to slide along the sliding grooves (331) with the predetermined track.

4. A robot arm as claimed in claim 2, characterized in that said moving assembly (40) comprises a horizontal moving unit (41) and a vertical moving unit (42), said vertical moving unit (42) being fixedly mounted inside said frame (10), said horizontal moving unit (41) being fixedly mounted to said vertical moving unit (42), the end of said rotation shaft (32) being fixedly mounted to said horizontal moving unit (41).

5. A robot arm as claimed in claim 4, wherein the vertical moving unit (42) further comprises a lifting motor (423), a lifting rod (424) and a lifting member (425), the lifting motor (423) is disposed at an end of the frame body (10), one end of the lifting rod (424) is fixedly mounted to the lifting motor (423) and rotates with the lifting motor (423), the lifting member (425) is sleeved on the lifting rod (424), and the lifting member (425) is fixedly mounted to the horizontal moving unit (41).

6. The robot arm according to claim 5, wherein the vertical moving unit (42) comprises a second sliding block (421) and a second sliding support (422), the second sliding support (422) is fixedly mounted on the frame body (10), the second sliding block (421) is slidably mounted on the second sliding support (422), two ends of the horizontal moving unit (41) are fixedly mounted on the second sliding block (421), and the horizontal moving unit (41) slides along the second sliding support (422).

7. The robot arm according to claim 6, wherein the horizontal moving unit (41) comprises a first sliding bracket (411), a first slider (412) and a fixed plate (413), the fixed plate (413) is fixedly mounted on the second slider (421), the lifting member (425) is fixedly mounted on the fixed plate (413), the first sliding bracket (411) is fixedly mounted on the fixed plate (413), the first slider (412) is slidably mounted on the first sliding bracket (411), and an end of the rotating shaft (32) is fixedly mounted on the first slider (412).

8. A robot arm according to claim 3, characterized in that the robot arm assembly (20) comprises a first arm (21), a second arm (22) and a third arm (23), the first arm (21) being fixedly mounted to the fixed frame (33), one end of the first arm (21) being pivotally connected to one end of the second arm (22), the third arm (23) being pivotally connected to the other end of the second arm (22).

9. The mechanical arm according to claim 8, characterized in that the mechanical arm assembly (20) comprises a telescopic unit (50), the telescopic unit (50) is arranged in the mechanical arm assembly (20), the telescopic unit (50) comprises a first telescopic rod (51), the first telescopic rod (51) is arranged in the first mechanical arm (21), and one end of the first telescopic rod (51) is fixedly arranged on the first mechanical arm (21) and the other end is rotatably arranged on the second mechanical arm (22); and

the telescopic unit (50) comprises a second telescopic rod (52), the second telescopic rod (52) is arranged in the second machine arm (22), one end of the second telescopic rod (52) is rotatably installed at one end of the second machine arm (22), and the other end of the second telescopic rod is rotatably installed at the third machine arm (23).

10. A robot arm according to claim 9, characterized in that the first horn (21) and/or the third horn (23) are telescopic horns.

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