CN218104216U - Deformable mechanical arm - Google Patents

Abstract

The utility model relates to the technical field of mechanical arms, and discloses a deformable mechanical arm, which comprises a mechanical arm body and a picking head, wherein the picking head comprises a mounting frame, the front side of the mounting frame is provided with a groove, the opening of the groove extends to the edge of the mounting frame, a rotating shaft is installed in the groove in a rotating way, the rotating shaft is connected with a first scissors driving mechanism, and a second scissors driving mechanism is fixed in the rotating shaft; the gripper is arranged on the front side of the mounting rack; the gripper driving mechanism is in transmission connection with the grippers so as to drive the grippers to rotate and retract or unfold; the scissors are inserted into the rotating shaft from the front side of the mounting rack and are in transmission connection with the second scissors driving mechanism; the first scissors driving mechanism can drive the rotating shaft to rotate back and forth so that the scissors are placed in the groove or rotate out of the groove; the second scissors driving mechanism can drive the scissors arms of the scissors to rotate back and forth so as to open or close the scissors. The utility model discloses can use tongs or scissors according to picking the operation demand, need not to change picking head, improve the operating efficiency.

Description

A deformable robotic arm

technical field

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

Background technique

The seasonality of fruit picking is strong, and the operation time is short. If the fruit is not picked in time during the ripening period, the fruit will fall off and be wasted, resulting in economic losses. Fruit picking is generally based on manual picking, and manual picking will consume a lot of manual labor. With the development of science and technology, some automatic picking machinery and equipment are gradually applied. However, in the process of fruit picking, not only the fruit needs to be picked, but also the branches and leaves around the fruit need to be pruned. Existing fruit picking robotic arms generally use a separate picking head, which is replaced with a gripper that can pick fruit after pruning the branches and leaves, so that the picking head on the robotic arm needs to be replaced frequently during the picking operation of the robotic arm. The work efficiency is low.

Utility model content

In view of the above problems, the purpose of this utility model is to provide a deformable robotic arm to solve the problem of low operating efficiency due to the need to replace the picking head on the robotic arm during the picking operation of the existing fruit picking robotic arm.

In order to achieve the above object, the utility model adopts the following technical solutions:

The deformable mechanical arm described in the utility model includes a mechanical arm body and a picking head, and the picking head includes:

Mounting frame, the rear side of the mounting frame is rotatably mounted on one end of the mechanical arm body, the front side of the mounting frame is provided with a groove extending to the edge of the mounting frame, and a rotating shaft is installed in the groove , the rotating shaft is connected with a first scissors driving mechanism, and a second scissors driving mechanism is fixed inside the rotating shaft;

a gripper, the gripper is installed on the front side of the installation frame;

A gripper driving mechanism, the gripper driving mechanism is in transmission connection with the gripper, so as to drive the gripper to rotate, shrink or expand;

Scissors, the scissors are inserted into the rotating shaft from the front side of the installation frame and are connected in transmission with the second scissors driving mechanism;

The first scissors driving mechanism can drive the rotating shaft to rotate back and forth, so that the scissors are placed in the groove or rotated out of the groove; the second scissors driving mechanism can drive the scissors The scissors arms rotate back and forth, so that the scissors are opened or closed.

Preferably, the scissors include a first scissors arm and a second scissors arm, and the second scissors driving mechanism includes a first motor and a second motor, and the first motor and the second motor are respectively mounted on the rotating In the shaft; one end of the first scissors arm inserted into the rotating shaft is fixed with a first transmission gear, and the first transmission gear is connected with the first motor; the second scissors arm is inserted into one end of the rotating shaft A second transmission gear is fixed, and the second transmission gear is connected with the second motor.

Preferably, a rotating ring is rotatably installed on the front side of the installation frame, and the rotating ring is arranged on the outer peripheral side of the rotating shaft, and a notch for the scissors to pass through is also provided on the rotating ring, A rotation driving mechanism for driving the rotating ring to rotate is mounted on the mounting frame, and the gripper is installed on the rotating ring.

Preferably, the gripper includes a plurality of gripper arms, and the plurality of gripper arms are circumferentially arranged at intervals on the front side of the rotating ring; the gripper driving mechanism includes a plurality of drive motors, and the drive motors are installed on On the rotating ring, an arm rotating shaft is vertically installed at the end of each grabbing arm, and each arm rotating shaft is connected to one of the driving motors.

Preferably, a boss is fixed on the rotating shaft, the inside of the boss is hollow and communicated with the inside of the rotating shaft, an opening is provided on the front side of the boss, and the scissors are inserted through the opening inside the boss.

Preferably, the deformable mechanical arm further includes a base, a turntable is rotatably installed in the base, and the turntable is connected with a turntable drive mechanism for driving the turntable to rotate, and the body of the mechanical arm is rotatably installed on the turntable .

Preferably, the robotic arm body includes:

a first mechanical arm, the first mechanical arm is mounted on the turntable through a first rotating shaft;

A driving motor for the first mechanical arm, the driving motor for the first mechanical arm is installed on the turntable, and the driving motor for the first mechanical arm is transmission-connected to the first rotating shaft;

a second mechanical arm, the second mechanical arm is mounted on the first mechanical arm through a second rotating shaft;

The driving motor of the second mechanical arm is installed on the first mechanical arm, and the driving motor of the second mechanical arm is connected to the second rotating shaft through transmission.

Preferably, the axial direction of the rotating shaft is arranged parallel to the groove width direction of the groove.

Preferably, a camera device is installed on the upper side of the installation frame.

Preferably, the deformable mechanical arm further includes a controller, and the gripper driving mechanism, the first scissors driving mechanism and the second scissors driving mechanism are respectively electrically connected to the controller.

Compared with the prior art, a deformable mechanical arm according to the embodiment of the utility model has the following beneficial effects:

The deformable mechanical arm of the embodiment of the utility model drives the gripper to rotate and shrink or expand through the gripper driving mechanism; the first scissors driving mechanism drives the rotating shaft to rotate back and forth, so that the scissors can be placed in the groove or rotated out of the groove ; The second scissors driving mechanism drives the scissors arm to rotate back and forth, so that the scissors can be opened or closed. When the branches and leaves need to be trimmed, the gripper is driven to rotate and shrink by the gripper driving mechanism, and the rotating shaft is driven to rotate by the first scissors driving mechanism, so that the scissors are rotated out of the groove, and then the scissors are driven to open and close by the second scissors driving mechanism, Trim the branches and leaves; after the branches and leaves are trimmed, drive the scissors to close through the second scissors driving mechanism, and drive the rotating shaft to rotate through the first scissors driving mechanism, so that the scissors rotate and place them in the groove, and then drive the gripper to rotate and unfold through the gripper driving mechanism , to pick the fruit. In the utility model, both the gripper and the scissors are installed on the picking head, and the gripper can be used to grab the fruit according to the picking operation requirements, or the scissors can be used to trim the branches and leaves without changing the picking head, thereby improving the working efficiency.

Description of drawings

Fig. 1 is a structural schematic diagram of the deformable mechanical arm described in the embodiment of the utility model;

Fig. 2 is a schematic diagram of the open state of the scissors in the embodiment of the utility model;

Fig. 3 is a schematic diagram of the state where the scissors are placed in the groove in the embodiment of the utility model;

Fig. 4 is the second schematic diagram of the state where the scissors are placed in the groove in the embodiment of the utility model;

Fig. 5 is a schematic diagram of the transmission of the rotating shaft in the embodiment of the utility model;

Fig. 6 is a schematic diagram of the transmission of the scissors in the open state in the embodiment of the utility model;

Fig. 7 is a schematic diagram of transmission in the closed state of the scissors in the embodiment of the utility model;

In the figure, 1, the body of the mechanical arm; 11, the first mechanical arm; 12, the second mechanical arm; 2, the picking head; 21, the mounting frame; 211, the groove; 212, the rotating shaft; 2121, the gear teeth; The fifth transmission gear; 213, boss; 214, rotating ring; 22, scissors; 221, the first scissors arm; 222, the second scissors arm; 223, the first transmission gear; 224, the second transmission gear; 225, the first Three transmission gears; 226, the fourth transmission gear; 23, gripper; 231, grasping arm; 2311, the first support arm; 2312, the second support arm; 232, arm shaft; 3, base; 4, turntable; 41, Fixed table; 5. Turntable drive mechanism; 6. Camera device.

detailed description

In the description of the present utility model, it should be noted that the terms "center", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal" , "Top", "Bottom" and other indicated orientations or positional relationships are based on the orientations or positional relationships shown in the drawings, which are only for the convenience of describing the utility model and simplifying the description, rather than indicating or implying the referred device or element Must have a specific orientation, be constructed and operate in a specific orientation, and therefore should not be construed as limiting the invention. In addition, the terms "first", "second", and "third" are used for descriptive purposes only, and should not be construed as indicating or implying relative importance.

In the description of the present utility model, it should be noted that, unless otherwise clearly stipulated and limited, the terms "installation", "connection" and "connection" should be understood in a broad sense, for example, it can be a fixed connection or a flexible connection. Disassembled connection, or integral connection; it can be directly connected, or indirectly connected through an intermediary, and it can be the internal communication of two components. Those of ordinary skill in the art can understand the specific meanings of the above terms in the present utility model in specific situations.

Below in conjunction with accompanying drawing and embodiment, the specific embodiment of the utility model is described in further detail. The following examples are used to illustrate the utility model, but not to limit the scope of the utility model.

As shown in Figures 1-7, a deformable robotic arm according to the embodiment of the present invention includes a robotic arm body 1 and a picking head 2 installed on the robotic arm body 1, and the picking head 2 includes a mounting frame 21, Gripper 23, gripper driving mechanism and scissors 22, wherein the rear side of the mounting frame 21 is rotatably mounted on one end of the mechanical arm body 1, and the front side of the mounting frame 21 is provided with an opening extending to the mounting frame 21 The groove 211 on the edge, the rotation shaft 212 is installed in the groove 211, the first scissors drive mechanism is connected to the rotation shaft 212, and the second scissors drive mechanism is fixed in the rotation shaft 212; The hand 23 is installed on the front side of the mounting frame 21; the gripper drive mechanism is connected with the gripper 23 to drive the gripper 23 to rotate and shrink or expand; The front side of the rotating shaft 212 is inserted into the rotating shaft 212 and is in transmission connection with the second scissors driving mechanism; the first scissors driving mechanism can drive the rotating shaft 212 to rotate back and forth, so that the scissors 22 are placed in the concave The second scissors driving mechanism can drive the scissors arms of the scissors 22 to rotate back and forth, so that the scissors 22 open or close.

In the utility model, both the gripper 23 and the scissors 22 are installed on the picking head 2, the gripper 23 can be used to grab the fruit according to the picking operation requirements, or the scissors 22 can be used to prune the branches and leaves without changing the picking head 2, thereby Improve work efficiency.

In this embodiment, the axial direction of the rotating shaft 212 is arranged parallel to the groove width direction of the groove 211 . As shown in Figure 3, the groove 211 has a first notch facing forward and a second notch facing downward, through which the scissors 22 can be easily rotated to the front side of the mounting frame 21, so that the scissors 22 can be opened and closed for trimming. Branches and leaves: the scissors 22 are conveniently rotated into the groove 211 through the second notch, so that the scissors 22 are extended downwards and arranged without interfering with the grasping work of the gripper 23 .

In this embodiment, the first scissors driving mechanism is a motor, and the first scissors driving mechanism is connected to the rotating shaft 212 through transmission. For example, as shown in Figure 5, the rear side of the rotating shaft 212 runs through the groove 211 and extends to the rear side of the groove bottom of the groove 211. The rear side surface of the rotating shaft 212 can fix the gear teeth 2121, and the gear teeth 2121 are meshed and connected with The fifth transmission gear 2122, the fifth transmission gear 2122 is connected with the first scissors driving mechanism. The fifth transmission gear 2122 is driven to rotate by the first scissors driving mechanism, and the rotating shaft 212 is driven to rotate. Wherein, the gear teeth 2121 are arranged along the circumference of the rotation shaft 212 , and the arrangement length is less than the circumference of the rotation shaft 212 .

In this embodiment, the scissors 22 include a first scissors arm 221 and a second scissors arm 222, and the second scissors driving mechanism includes a first motor and a second motor, and the first motor and the second motor are respectively Installed in the rotating shaft 212, it can rotate synchronously with the rotating shaft 212; The first transmission gear 223 is connected with the first motor through the third transmission gear 225; the end of the second scissors arm 222 inserted into the rotating shaft 212 is fixed with a second transmission gear, and the second transmission gear 224 The fourth transmission gear 226 is in drive connection with the second motor. The third transmission gear 225 is driven by the first motor to rotate, the third transmission gear 225 drives the first transmission gear 223 to rotate, and the first transmission gear 223 drives the first scissors arm 221 to rotate in a direction approaching or away from the second scissors arm 222; The second motor drives the fourth transmission gear 226 to rotate, the fourth transmission gear 226 drives the second transmission gear 224 to rotate, and the second transmission gear 224 drives the second scissor arm 222 to rotate toward or away from the second scissor arm 222 .

In order to completely close the first scissors arm 221 and the second scissors arm 222 outside the boss 213, in this embodiment, as shown in FIG. 6, the first scissors arm 221 and the second scissors arm 222 are bent. .

It should be pointed out that, in order to realize the opening or closing of the scissors 22, the first motor and the second motor act simultaneously, and the rotation directions of the first scissors arm 221 and the second scissors arm 222 are opposite, so that the first scissors arm 221 and the second scissors arm 221 The two scissor arms 222 move toward each other to close the scissors 22 , or the first scissor arm 221 and the second scissor arm 222 move away from each other to realize the opening of the scissors 22 .

In this embodiment, a boss 213 is fixed on the rotating shaft 212. The interior of the boss 213 is hollow and communicates with the inside of the rotating shaft 212. An opening is provided on the front side of the boss 213, so that The scissors 22 are inserted into the boss 213 from the opening, and enter the interior of the rotating shaft 212 . The boss 213 can support the scissors 22 in the up and down direction, and the opening on the front side of the boss 213 can guide the rotation of the first scissors arm 221 and the second scissors arm 222, so that the first scissors arm 221 and the second scissors arm 222 The second scissor arms 222 can be closed precisely. Moreover, the length of the opening can also define the opening size of the first scissor arm 221 and the second scissor arm 222 .

In this embodiment, as shown in FIGS. 2-4 , a rotating ring 214 is rotatably installed on the front side of the installation frame 21, and the rotating ring 214 is arranged on the outer peripheral side of the rotating shaft 212, and the The rotary ring 214 is also provided with a gap for the scissors 22 to pass through, so that the rotary ring 214 does not interfere with the rotation of the scissors 22 into the groove 211, and the scissors 22 will not affect the rotation of the rotary ring 214 when it is in the groove 211. put one's oar in. A rotation driving mechanism for driving the rotation ring 214 is installed on the installation frame 21 , and the handle 23 is installed on the rotation ring 214 . After the gripper 23 grabs the fruit, the rotating ring 214 is driven to rotate by the rotating drive mechanism, which drives the gripper 23 to rotate, and the rotation drives the fruit to rotate, so as to facilitate the separation of the fruit and the branch, and complete the fruit picking. It should be pointed out that the rotation driving mechanism is a motor, and the driving method of the motor to the rotating ring 214 is the prior art, and the present invention does not repeat it in detail.

Further, as shown in FIGS. 2-4 , the gripper 23 includes a plurality of gripper arms 231, and the plurality of gripper arms 231 are arranged on the front side of the rotating ring 214 at intervals in the circumferential direction; the gripper drives The mechanism includes a plurality of driving motors, the driving motors are installed on the rotating ring 214, the end of each of the grasping arms 231 is vertically equipped with an arm shaft 232, each of the arm shafts 232 is connected to one of the motor. Wherein, the arm rotating shaft 232 is just a name for the rotating shaft, which can realize the function of the rotating shaft. By driving the rotation of the arm rotating shaft 232 driven by the motor, the grasping arms 231 are driven to rotate, so as to realize the expansion or contraction of multiple grasping arms 231 . Further, the rotation axis 212 of the arm shaft 232 is parallel to the tangent of the rotation ring 214 at the installation position of the arm rotation shaft 232 , so that each grasping arm 231 shrinks toward the center of the rotation ring 214 .

It should be pointed out that the connection mode between the driving motor and the arm shaft 232 is the prior art, and the present invention does not repeat it in detail.

In this embodiment, a sleeve can be set on the outer peripheral side of the arm shaft 232, and the sleeve is fixedly connected with the rotating ring 214. It passes through the annular groove and is fixed with the arm shaft 232 . It should be pointed out that in this embodiment, the sleeve facilitates the rotational installation of the arm shaft 232 . In other embodiments, the arm shaft 232 can also be installed through other forms of mounting brackets.

In this embodiment, the structure and driving method of each grasping arm 231 are the same. The structure of one of the grasping arms 231 is taken as an example for illustration. As shown in FIG. 2 , the grasping arm 231 includes a first arm 2311 and a second arm 2312 , the first arm 2311 is connected to the arm shaft 232 , and the second arm 2312 is rotatably connected to the first arm 2311 . The rotation of the second arm 2312 relative to the first arm 2311 can be operated manually. Optionally, the first arm 2311 and the second arm 2312 can be connected by a rotating shaft, and a motor for driving the rotating shaft can be installed in the first arm 2311, and the rotating shaft can be driven by the motor to drive the second arm 2312 relative to the first arm. An arm 2311 rotates. Through the rotation of the second arm 2312 relative to the first arm 2311 , the second arm 2312 can be rotated and folded on the first arm 2311 , thereby reducing the occupied space of the handle 23 . Further, through the rotation of the second arm 2312 relative to the first arm 2311, the grasping space of the gripper 23 can also be adjusted, making it more convenient to grasp fruits of different sizes.

In this embodiment, as shown in Figure 1, the deformable mechanical arm also includes a base 3, a turntable 4 is rotatably installed in the base 3, and the turntable 4 is connected with a turntable drive mechanism for driving the turntable 4 to rotate. 5. The robot arm body 1 is rotatably mounted on the turntable 4 . The turntable drive mechanism 5 can be a motor. The turntable 4 is driven to rotate by the turntable drive mechanism 5 , and the turntable 4 can drive the mechanical arm body 1 to rotate synchronously, thereby adjusting the attitude of the mechanical arm body 1 and adjusting the position of the picking head 2 . The base 3 can be a frame structure.

Further, the robotic arm body 1 includes:

The first mechanical arm 11, the first mechanical arm 11 is installed on the turntable 4 through the first rotating shaft, the central axis of the first rotating shaft extends along the left and right direction, so that the first mechanical arm 11 can rotate forward and backward relative to the turntable 4 ; It should be pointed out that the left-right direction is the direction perpendicular to the paper in Figure 1, the direction close to the paper is left, and the direction away from the paper is right;

The drive motor of the first mechanical arm 11 is installed on the turntable 4, and the drive motor of the first mechanical arm 11 is connected with the first rotating shaft to drive the first rotating shaft to rotate forward and backward. ;

The second mechanical arm 12, the second mechanical arm 12 is installed on the first mechanical arm 11 through the second rotating shaft, the central axis of the second rotating shaft extends along the left and right direction, so that the second mechanical arm 12 can be relative to the first mechanical arm 11 A mechanical arm 11 rotates back and forth;

The driving motor of the second mechanical arm 12, the driving motor of the second mechanical arm 12 is installed on the first mechanical arm 11, and the driving motor of the second mechanical arm 12 is connected with the transmission of the second rotating shaft to drive the second mechanical arm. The mechanical arm 12 rotates back and forth.

Through the rotation of the first mechanical arm 11 and the second mechanical arm 12, the position of the picking head 2 is adjusted, and the gripper 23 is assisted in gripping the fruit.

Further, the mounting frame 21 of the picking head 2 is mounted on the second mechanical arm 12 through a third rotating shaft, and the central axis of the third rotating shaft extends along the left-right direction so that the mounting frame 21 can rotate forward and backward relative to the second mechanical arm 12 .

In this embodiment, the turntable 4 is provided with a fixed platform 41 , and the first mechanical arm 11 is rotatably mounted on the fixed platform 41 .

In this embodiment, as shown in FIGS. 1-4 , an imaging device 6 is installed on the upper side of the mounting frame 21, and the imaging device 6 is used to photograph the picking object, so as to confirm whether the branches and leaves need to be checked according to the photographing results. prune. The camera device 6 can be connected with the display screen, through which the shooting result is displayed, and the gripper 23 and the scissors 22 are controlled according to the displayed shooting result.

In this embodiment, the deformable mechanical arm further includes a controller, and the gripper driving mechanism, the first scissors driving mechanism and the second scissors driving mechanism are respectively electrically connected to the controller. After the controller controls the first scissors drive mechanism to drive the scissors 22 to be placed in the groove 211, it controls the gripper drive mechanism to drive the gripper 23 to rotate and expand; after the controller controls the gripper drive mechanism to drive the gripper 23 to rotate and shrink, it controls the first scissors The driving mechanism drives the scissors 22 to rotate out of the groove 211, and then controls the second scissors driving mechanism to drive the scissors 22 to open or close.

The working process of the present utility model is:

Move the mechanical arm body 1 to the bottom of the object to be picked, and drive the gripper 23 to shrink through the gripper driving mechanism; drive the rotation shaft 212 to rotate through the first scissors driving mechanism, so that the scissors 22 rotate to the outside of the groove 211; through the second scissors The driving mechanism drives the scissors 22 to open or close to trim the branches and leaves. After the branches and leaves are pruned, the second scissors driving mechanism drives the scissors 22 to close up, and the first scissors driving mechanism drives the rotating shaft 212 to rotate, so that the scissors 22 rotate into the groove 211, and the gripper 23 is driven by the gripper driving mechanism to unfold, and the fruit to fetch.

The above is only the preferred embodiment of the utility model, it should be pointed out that for those of ordinary skill in the art, without departing from the technical principle of the utility model, some improvements and replacements can also be made. And replacement should also be regarded as the protection scope of the present utility model.

Claims (10)

1. A deformable mechanical arm, characterized in that, comprises a mechanical arm body and a picking head, and the picking head includes: Mounting frame, the rear side of the mounting frame is rotatably mounted on one end of the mechanical arm body, the front side of the mounting frame is provided with a groove extending to the edge of the mounting frame, and a rotating shaft is installed in the groove , the rotating shaft is connected with a first scissors driving mechanism, and a second scissors driving mechanism is fixed inside the rotating shaft; a gripper, the gripper is installed on the front side of the installation frame; A gripper driving mechanism, the gripper driving mechanism is in transmission connection with the gripper, so as to drive the gripper to rotate, shrink or expand; Scissors, the scissors are inserted into the rotating shaft from the front side of the installation frame and are connected in transmission with the second scissors driving mechanism; The first scissors driving mechanism can drive the rotating shaft to rotate back and forth, so that the scissors are placed in the groove or rotated out of the groove; the second scissors driving mechanism can drive the scissors The scissors arms rotate back and forth, so that the scissors are opened or closed. 2. The deformable mechanical arm according to claim 1, wherein the scissors comprise a first scissors arm and a second scissors arm, and the second scissors driving mechanism comprises a first motor and a second motor, the The first motor and the second motor are respectively installed in the rotating shaft; the end of the first scissors arm inserted into the rotating shaft is fixed with a first transmission gear, and the first transmission gear and the first motor Connection; the end of the second scissors arm inserted into the rotating shaft is fixed with a second transmission gear, and the second transmission gear is connected with the second motor. 3. The deformable mechanical arm according to claim 1, wherein a rotating ring is rotatably installed on the front side of the mounting frame, and the rotating ring is arranged on the outer peripheral side of the rotating shaft, the A notch for the scissors to pass through is also provided on the rotating ring, a rotating drive mechanism for driving the rotating ring to rotate is installed on the mounting frame, and the gripper is installed on the rotating ring. 4. The deformable mechanical arm according to claim 3, wherein the gripper includes a plurality of gripping arms, and the plurality of gripping arms are arranged at circumferential intervals on the front side of the rotating ring; The hand drive mechanism includes a plurality of driving motors, the driving motors are installed on the rotating ring, and the end of each grabbing arm is vertically installed with an arm shaft, and each of the arm shafts is connected to one of the driving motors . 5. The deformable mechanical arm according to claim 1, wherein a boss is fixed on the rotating shaft, the inside of the boss is hollow and communicates with the inside of the rotating shaft, and the boss An opening is provided on the front side, and the scissors are inserted into the boss through the opening. 6. The deformable robotic arm according to claim 1, characterized in that, the deformable robotic arm further comprises a base, a turntable is rotatably installed in the base, and the turntable is connected with a turntable for driving the turntable to rotate A driving mechanism, the main body of the mechanical arm is rotatably installed on the turntable. 7. The deformable robotic arm according to claim 6, wherein the robotic arm body comprises: a first mechanical arm, the first mechanical arm is mounted on the turntable through a first rotating shaft; A driving motor for the first mechanical arm, the driving motor for the first mechanical arm is installed on the turntable, and the driving motor for the first mechanical arm is transmission-connected to the first rotating shaft; a second mechanical arm, the second mechanical arm is mounted on the first mechanical arm through a second rotating shaft; The driving motor of the second mechanical arm is installed on the first mechanical arm, and the driving motor of the second mechanical arm is connected to the second rotating shaft through transmission. 8. The deformable mechanical arm according to claim 1, wherein the axial direction of the rotating shaft is arranged parallel to the groove width direction of the groove. 9. The deformable robotic arm according to any one of claims 1 to 8, wherein a camera device is installed on the upper side of the installation frame. 10. The deformable robotic arm according to any one of claims 1 to 8, characterized in that, the deformable robotic arm further comprises a controller, the gripper driving mechanism, the first scissors driving mechanism and the The second scissors driving mechanism is electrically connected to the controller respectively.

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