CN218433080U

CN218433080U - Buffer structure and heavy-load mechanical arm

Info

Publication number: CN218433080U
Application number: CN202222510786.4U
Authority: CN
Inventors: 李平
Original assignee: Sichuan Liqida Intelligent Technology Co ltd
Current assignee: Sichuan Liqida Intelligent Technology Co ltd
Priority date: 2022-09-21
Filing date: 2022-09-21
Publication date: 2023-02-03
Anticipated expiration: 2032-09-21

Abstract

The embodiment of the utility model relates to a buffer structure and a heavy-load mechanical arm, the buffer structure comprises a shell, the shell is provided with an inner cavity, one end of the inner cavity is a closed end, and the closed end is provided with a through hole for realizing the communication between the inner cavity and an external space; one end of the connecting rod is a limiting end, the limiting end is positioned in the inner cavity and is provided with a limiting piece, the other end of the connecting rod is a connecting end, and the connecting end is used for being connected with the mechanical arm; the elastic piece is sleeved on the connecting rod, one end of the elastic piece is abutted against the closed end, and the other end of the elastic piece is abutted against the limiting piece; the diameter of the limiting piece is larger than that of the through hole, the mechanical arm is supported by the elastic piece through the arrangement of the buffering structure, the mechanical arm is buffered, the load capacity of the mechanical arm is guaranteed, and the service life of the mechanical arm is prolonged.

Description

Buffer structure and heavy-load mechanical arm

Technical Field

The utility model relates to a mechanical equipment technical field, further, relate to a buffer structure and heavy load arm.

Background

In the process of logistics storage stacking, a stacking mechanical arm needs to be used, and in order to guarantee the moving range of the mechanical arm, a multi-shaft mechanical arm is usually adopted, so that the stacking of materials is conveniently realized.

In the use of mechanical arm, can involve the transfer of the heavier material of weight usually to lead to the load of mechanical arm too big, influence the life of mechanical arm, how can improve the load capacity of mechanical arm, guarantee the life of mechanical arm, be the technical problem who needs to solve urgently.

In view of this, the present application is specifically made.

SUMMERY OF THE UTILITY MODEL

In order to solve the above problem, on the one hand, the embodiment of the utility model provides a buffer structure, through the arrangement of the buffer structure, the mechanical arm is supported by an elastic part, the load capacity of the mechanical arm is ensured while the mechanical arm is buffered, and the service life of the mechanical arm is prolonged; on the one hand, the embodiment of the utility model provides a still provide a heavy load arm, based on above-mentioned buffer structure, when the bearing capacity of guaranteeing the arm obtains promoting, the life of extension arm.

The utility model discloses a following technical scheme realizes:

first aspect of the invention

The embodiment of the utility model provides a buffer structure, which comprises a shell, wherein the shell is provided with an inner cavity, one end of the inner cavity is a closed end, and the closed end is provided with a through hole for realizing communication between the inner cavity and an external space; one end of the connecting rod is a limiting end, the limiting end is positioned in the inner cavity and is provided with a limiting piece, the other end of the connecting rod is a connecting end, and the connecting end is used for being connected with the mechanical arm; the elastic piece is sleeved on the connecting rod, one end of the elastic piece is abutted against the closed end, and the other end of the elastic piece is abutted against the limiting piece; wherein, the diameter of spacing piece is greater than the diameter of through-hole.

In this scheme, buffer structure includes that casing and one end are located in the casing inner chamber, the other end is located the connecting rod outside the casing inner chamber, wherein, the connecting rod is located one end in the inner chamber is provided with spacing piece, the inner chamber is close to the tip of the link of connecting rod is the blind end, the blind end is provided with the closure plate that has the through-hole, buffer structure still includes the elastic component, the elastic component sets up between closure plate and the spacing piece, just the link and the arm of connecting rod are connected, and when the arm rotates, the link for the length of closure plate can change, thereby drives the spacing piece is in move in the inner chamber, and owing to be in spacing piece and be provided with the elastic component between the closure plate, when the arm rotation angle is too big, the elastic component provides a pulling force or elasticity guarantees the relative position of arm makes the whole load capacity of arm increases, has guaranteed life.

Furthermore, the elastic part is of a double-spring structure and comprises a first spring and a second spring, and the first spring and the second spring are sleeved on the connecting rod.

Further, the diameter of the first spring is larger than the diameter of the second spring.

Second aspect of the invention

The embodiment of the utility model also provides a heavy-load mechanical arm, which comprises a mechanical arm body and the buffer structure, wherein the mechanical arm body comprises a base structure, a first mechanical arm and a second mechanical arm; the base structure is also provided with a second rotating motor, and a power output shaft of the second rotating motor is connected with one end of the first mechanical arm and used for driving the first mechanical arm to rotate; a third rotating motor is arranged at the other end of the first mechanical arm, a power output shaft of the third rotating motor is connected with one end of the second mechanical arm and used for driving the second mechanical arm to rotate, and the other end of the second mechanical arm is used for realizing the grabbing of materials; wherein, the link is articulated with first arm.

Further, the base structure is provided with a mounting seat for mounting the buffer structure, and the mounting seat is connected with the shell; the mounting seat is provided with a rotating ring, the shell is sleeved in the rotating ring, and the rotating ring is hinged to the mounting seat.

The base structure is arranged on the mounting table top, and is also provided with a first rotating motor which is used for driving the base structure to rotate; wherein, the mounting table surface is supported by a columnar structure formed by a plurality of steel plates in a surrounding way.

Furthermore, the mounting table surface is also provided with a limiting structure for limiting the rotation range of the base structure; the limiting structure comprises a positioning hole and a positioning block, the positioning block is provided with a connecting column which is in nested fit with the positioning hole, and the positioning hole is detachably connected with the positioning block through the connecting column.

Furthermore, the number of the positioning holes is multiple, the positioning holes are located on the same circumferential line and are arranged at intervals, and the circumferential line is located on the axis of the mounting table top; the connecting columns are matched with different positioning holes, so that the relative position change of the positioning blocks on the mounting table top is realized.

Furthermore, the mechanical arm body further comprises a buffering connecting plate, the buffering connecting plate is provided with a first connecting end, a second connecting end and a third connecting end, the first connecting end is connected with the base structure through a first pull rod, the second connecting end is connected with one end of the second mechanical arm through a second pull rod, the third connecting end is arranged at the other end of the second mechanical arm, and the connecting position of the third connecting end and the second mechanical arm is located at the connecting position of the second mechanical arm and the first mechanical arm.

Furthermore, the mechanical arm body further comprises a control module for controlling the mechanical arm body to move, the first pull rod comprises a first connecting rod and a second connecting rod, one end of the first connecting rod is connected with the first connecting end, and the other end of the first connecting rod is provided with a piston sleeve; one end of the second connecting rod is matched with the piston sleeve, and the other end of the second connecting rod is connected with the base structure; the piston sleeve is in sliding fit with the end part of the second connecting rod, a feedback structure is arranged in the piston sleeve and is in signal connection with the control module, and when the second connecting rod moves in the piston sleeve and triggers the feedback structure, the feedback structure sends a signal to the control module to stop the mechanical arm body.

Compared with the prior art, the utility model, following advantage and beneficial effect have:

the embodiment of the utility model relates to a buffer structure, buffer structure includes that casing and one end are located the casing inner chamber, the connecting rod of the other end outside the casing inner chamber, wherein, the one end that the connecting rod is located in the inner chamber is provided with spacing piece, the end that the inner chamber is close to the link of connecting rod is the blind end, the blind end is provided with the closure plate that has the through-hole, buffer structure still includes the elastic component, the elastic component sets up between closure plate and the spacing piece, and the link of connecting rod is connected with the arm, and when the arm rotates, the link can change for the length of closure plate, thereby drive the spacing piece in the inner chamber removes, and owing to set up the elastic component between spacing piece and the closure plate, when the arm rotation angle is too big, the elastic component provides a pulling force or elasticity guarantees the relative position of arm, makes the whole load capacity of arm increase, has guaranteed life;

the embodiment of the utility model provides a still provide a heavy load arm, based on above-mentioned buffer structure, when the bearing capacity of guaranteeing the arm obtains promoting, the life of extension arm.

Drawings

The accompanying drawings are included to provide a further understanding of the invention, and are incorporated in and constitute a part of this specification, illustrate embodiments of the invention, and together with the description serve to explain the invention and not to limit the invention.

Fig. 1 is a schematic structural diagram of a buffer structure according to an embodiment of the present invention;

fig. 2 is a schematic structural view of a heavy-load mechanical arm provided in an embodiment of the present invention;

FIG. 3 is a partial enlarged view of area A in FIG. 2;

FIG. 4 is a partial enlarged view of the area B in FIG. 2;

fig. 5 is a partially enlarged view of the region C in fig. 2.

The reference numbers in the figures are in order:

100-shell, 110-inner cavity, 111-through hole, 112-rubber pad, 200-connecting rod, 210-spacing piece, 300-elastic piece, 310-first spring, 320-second spring, 410-base structure, 411-second rotating motor, 412-mounting seat, 412 a-rotating ring, 413-first rotating motor, 420-first mechanical arm, 421-third rotating motor, 430-second mechanical arm, 440-buffer connecting plate, 441-first pull rod, 441 a-first connecting rod, 441 b-second connecting rod, 442-second pull rod, 500-mounting table top, 510-positioning hole, 520-positioning block, 610-horizontal seat, 620-fourth rotating motor, 630-speed reducer and 640-fixing disk.

Detailed Description

The technical solution in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only some embodiments of the present invention, rather than all embodiments, and all other embodiments obtained by a person skilled in the art without creative work belong to the scope of protection of the present invention based on the embodiments of the present invention.

In the following description, numerous specific details are set forth in order to provide a thorough understanding of the present invention. However, it will be apparent to those of ordinary skill in the art that: it is not necessary to employ these specific details to practice the invention. In other instances, well-known structures, circuits, materials, or methods have not been described in detail so as not to obscure the present invention.

Throughout the specification, reference to "one embodiment," "an embodiment," "one example" or "an example" means: the particular features, structures, or characteristics described in connection with the embodiment or examples are included in at least one embodiment of the invention. Thus, the appearances of the phrases "one embodiment," "an embodiment," "one example" or "an example" in various places throughout this specification are not necessarily all referring to the same embodiment or example. Furthermore, the particular features, structures, or characteristics may be combined in any suitable combination and/or sub-combination in one or more embodiments or examples. Further, those of ordinary skill in the art will appreciate that the illustrations provided herein are for illustrative purposes and are not necessarily drawn to scale. As used herein, the term "and/or" includes any and all combinations of one or more of the associated listed items.

In the description of the present invention, it should be understood that the terms "front", "back", "left", "right", "upper", "lower", "vertical", "horizontal", "high", "low", "inner", "outer", etc. indicate orientations or positional relationships based on the orientations or positional relationships shown in the drawings, and are only for convenience of description and simplification of the description, but do not indicate or imply that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore, should not be construed as limiting the scope of the invention.

Examples

As shown in fig. 1, an embodiment of the present invention provides a buffer structure, including a casing 100, where the casing 100 has an inner cavity 110, one end of the inner cavity 110 is a closed end, and the closed end is provided with a through hole 111 for communicating the inner cavity 110 with an external space; one end of the connecting rod 200 is a limiting end, the limiting end is located in the inner cavity 110 and is provided with a limiting piece 210, the other end of the connecting rod 200 is a connecting end, and the connecting end is used for being connected with a mechanical arm; the elastic piece 300 is sleeved on the connecting rod 200, one end of the elastic piece 300 is abutted against the closed end, and the other end of the elastic piece 300 is abutted against the limiting piece 210; wherein, the diameter of the limiting sheet 210 is larger than that of the through hole 111.

The diameter of the limiting sheet 210 is greater than that of the through hole 111, and specifically, the limiting sheet 210 and the through hole 111 are arranged in a diameter manner, so that the limiting sheet 210 can be always located in the inner cavity 110, and the stability of the whole structure is guaranteed.

Specifically, in order to prevent the limiting piece 210 from protruding from the other end of the inner cavity 110, the other end of the inner cavity 110 should be a closed end.

As shown in fig. 4, in order to reduce the impact of the limiting piece 210 on the closed end, a rubber pad 112 may be disposed on the closed end.

In this scheme, the buffer structure includes a housing 100 and a connecting rod 200 having one end located in the inner cavity 110 of the housing 100 and the other end located outside the inner cavity 110 of the housing 100, wherein the connecting rod 200 has a limiting piece 210 at one end located in the inner cavity 110, the end of the inner cavity 110 close to the connecting end of the connecting rod 200 is a closed end, the closed end is provided with a sealing piece having a through hole 111, the buffer structure further includes an elastic member 300, the elastic member 300 is disposed between the sealing piece and the limiting piece 210, and the connecting end of the connecting rod 200 is connected to the mechanical arm, when the mechanical arm rotates, the length of the connecting end relative to the sealing piece changes, so as to drive the limiting piece 210 to move in the inner cavity 110, and due to the elastic member 300 being disposed between the limiting piece 210 and the sealing piece, when the rotation angle of the mechanical arm is too large, the elastic member 300 provides a tensile force or elastic force to ensure the relative position of the mechanical arm, so that the overall load capacity of the mechanical arm is increased, and the service life is ensured.

As shown in fig. 4, in some embodiments, the elastic member 300 has a double-spring structure, and includes a first spring 310 and a second spring 320, and both the first spring 310 and the second spring 320 are sleeved on the connecting rod 200, wherein the double-spring structure design is adopted, so that the tension and the elasticity of the springs can be effectively ensured, and a better buffering effect is provided.

Further, a mounting scheme which is more convenient for sleeving the spring and the connecting rod 200 is provided, and the diameter of the first spring is larger than that of the second spring.

As shown in fig. 2-3, the embodiment of the present invention further provides a heavy-load robot arm, which includes a robot arm body and the above-mentioned buffer structure, where the robot arm body includes a base structure 410, a first robot arm 420, and a second robot arm 430; the base structure 410 is further provided with a second rotating motor 411, and a power output shaft of the second rotating motor 411 is connected with one end of the first mechanical arm, and is used for driving the first mechanical arm 420 to rotate; a third rotating motor is arranged at the other end of the first mechanical arm 420, a power output shaft of the third rotating motor is connected with one end of the second mechanical arm 430 and used for driving the second mechanical arm 430 to rotate, and the other end of the second mechanical arm 430 is used for realizing the grabbing of materials; wherein the connecting end is hinged to the first mechanical arm 420.

As shown in fig. 5, the other end of the second mechanical arm 430 is used for grabbing materials, and specifically, a gripper structure is provided at the other end, the gripper structure includes a horizontal base 610, a fourth rotating electrical machine 620, a second speed reducer 630 and a fixed disk 640, one end of the horizontal base 610 is hinged to the second mechanical arm 430, and the other end of the horizontal base 610 is used for mounting the fourth rotating electrical machine 620, the second speed reducer 630 and the fixed disk 640, wherein a power output shaft of the fourth rotating electrical machine 620 is connected to the second speed reducer 630, a power output shaft of the second speed reducer 630 is connected to the fixed disk 640, and the fixed disk 640 is used for grabbing materials.

The connecting end is hinged to the first mechanical arm 420, and when the first mechanical arm 420 rotates, the connecting end is hinged to the first mechanical arm 420, so that the influence of the rotation of the first mechanical arm 420 on the buffering effect of the buffering structure can be effectively avoided.

In some embodiments, the base structure 410 is provided with a mounting seat 412 for mounting the cushioning structure, the mounting seat 412 being connected with the housing 100; the mounting seat 412 is provided with a rotating ring 412a, the housing 100 is sleeved in the rotating ring 412a, and the rotating ring 412a is hinged to the mounting seat 412.

Specifically, as a person skilled in the art should know, the connecting rod 200 is connected to the first robot arm 420, and in order to ensure the buffering effect of the elastic element 300, the housing 100 should be kept fixed, so as to implement the compression or stretching of the elastic element 300, in this embodiment, through the structural design of the rotating ring 412a, on one hand, the relative position of the buffering structure with respect to the base structure 410 can be ensured to a certain extent, and on the other hand, the rotation of the housing 100 can be implemented, so as to avoid the influence of the rotation of the first robot arm 420 on the buffering effect of the buffering structure.

In some embodiments, the present invention further comprises a mounting table 500, the base structure 410 is mounted on the mounting table 500, and the base structure 410 is further provided with a first rotating motor, the first rotating motor is used for driving the base structure 410 to rotate; wherein, the installation table 500 is supported by a columnar structure formed by a plurality of steel plates.

Specifically, the steel plate adopts a rear steel plate structure, thereby improving the supporting strength of the entire installation table 500.

In some embodiments, the mounting platform 500 is further provided with a limiting structure for limiting the rotation range of the base structure 410; the limiting structure comprises a positioning hole 510 and a positioning block 520, the positioning block 520 is provided with a connecting column which is in nested fit with the positioning hole 510, and the positioning hole 510 and the positioning block 520 are detachably connected through the connecting column.

It should be noted that, in the present scheme, in the rotation process of the robot arm, the base structure 410 can rotate simultaneously with the rotation of the robot arm, the mounting table 500 is provided with a limiting structure, the limiting structure is matched with the base of the robot arm, that is, a barrier is arranged on a corresponding rotation path, so as to limit the rotation range of the robot arm, and through the design of the table structure, the rotation range of the robot arm can be limited, so as to improve the transfer efficiency of the material.

The connecting column is in nested fit with the positioning hole 510, specifically, the diameter of the connecting column is matched with the diameter of the positioning hole 510, so that the positioning block 520 can be rapidly disassembled by establishing the connection relationship between the connecting column and the positioning hole 510 and adopting a nested fit mode, and the position of the positioning block 520 can be conveniently adjusted.

In some embodiments, the positioning holes 510 are multiple, and the positioning holes 510 are located on the same circumferential line and spaced apart from each other, and the circumferential line is located on the axis of the mounting table; the connecting columns are matched with different positioning holes 510, so that the relative position of the positioning block 520 on the mounting table 500 is changed.

The positioning holes 510 are provided to adjust the relative position of the positioning block 520 on the mounting platform 500.

In order to further limit the rotation range, the positioning block 520 may be multiple, and the rotation range is further limited by setting different positions.

Furthermore, the number of the connecting columns is two, and the two connecting columns are matched with the two adjacent positioning holes 510; through adopting two spliced poles and two locating holes 510 to mutually support, can guarantee that the locating piece 520 is in the relative position on the installation mesa 500 is fixed, avoid adopting single reference column to realize the locating piece 520 with when the locating hole 510 is connected, the influence that the rotation of locating piece 520 caused the rotation range of arm.

In some embodiments, in order to avoid the influence of the rotation of the positioning block 520 on the rotation range of the robot arm, the connecting column may also be a prism structure, specifically, but not limited to, a triangular prism, a quadrangular prism, and the like.

In some embodiments, the robot arm body further comprises a buffer connection plate 440, the buffer connection plate 440 has a first connection end, a second connection end and a third connection end, wherein the first connection end is connected to the base structure 410 through a first pull rod 441, the second connection end is connected to one end of the second robot arm 430 through a second pull rod 442, the third connection end is disposed at the other end of the second robot arm 430, and the connection position of the third connection end to the second robot arm 430 is located at the connection position of the second robot arm 430 to the first robot arm 420.

Due to the structural design of the first and

second tie rods

441 and 442, the damping of the acting force is increased during the rotation of the first and

second arms

420 and 430, and the mechanical performance and the service life are increased.

The third connection end is disposed at the other end of the second mechanical arm 430, and a connection position of the third connection end and the second mechanical arm 430 is located at a connection position of the second mechanical arm 430 and the first mechanical arm 420; specifically, the third connecting end may be directly connected to the second mechanical arm 430, or may be directly connected to the first mechanical arm 420, and it should be noted that in this embodiment, the arrangement of the buffer connecting plate 440 can ensure that the horizontal seat 610 maintains a horizontal position, so as to ensure that the fixed tray 640 can effectively cooperate with a material to be transferred, and thus transfer of the material is achieved; in particular, as will be known to those skilled in the art, the buffer connecting plate 440 is connected to the horizontal seat 610 and the base structure 410 through the first tie rod 441 and the second tie rod 442, respectively; and in order to ensure that the horizontal seat 610 is in a horizontal position, the third connecting end should be rotatably connected with the corresponding connecting position.

As shown in fig. 5, in some embodiments, one end of the second pull rod 442 is connected to a buffer connecting plate 440, and the other end is connected to the second robot arm 430 through the horizontal base 610, and in particular, the other end of the second pull rod 442 is connected to the horizontal base 610.

In some embodiments, the robot arm body further comprises a control module for controlling the motion of the robot arm body, the first pull rod comprises a first connecting rod 441a and a second connecting rod 441b, one end of the first connecting rod 441a is connected with the first connecting end, and the other end of the first connecting rod 441a is provided with a piston sleeve; one end of the second connecting rod 441b is matched with the piston sleeve, and the other end of the second connecting rod 441b is connected with the base structure 410; the piston sleeve is in sliding fit with the end of the second connecting rod 441b, a feedback structure is arranged inside the piston sleeve, the feedback structure is in signal connection with the control module, and when the second connecting rod 441b moves in the piston sleeve and triggers the feedback structure, the feedback structure sends a signal to the control module to stop the mechanical arm body.

The control module is used for controlling the mechanical arm body to move, and particularly, the control module can stop the mechanical arm structure.

Specifically, through the structural design of the feedback structure and the control module, the safety of the mechanical arm structure can be further ensured, and when the rotation angle of the first mechanical arm 420 is too large, the control module can be triggered to realize the emergency braking of the mechanical arm structure.

It should be noted that, regarding the feedback structure, the main purpose of the feedback structure is to generate a trigger signal to trigger the control module to implement emergency braking of the mechanical arm structure, and specifically, the feedback structure includes, but is not limited to, a sensor, a trigger switch, and the like.

In some embodiments, the buffering connection plate 440 has a T-shaped structure, the first connection end and the second connection end are respectively located at two ends of the T-shaped cross bar, and the third connection end is located at an end of the T-shaped vertical bar.

The above is the preferred embodiment of the present invention, the technical personnel in the field of the present invention can also change and modify the above-mentioned embodiment, therefore the present invention is not limited to the above-mentioned specific embodiment, and any obvious improvement, replacement or deformation made by the technical personnel in the field on the basis of the present invention all belong to the protection scope of the present invention.

Claims

1. A buffer structure is characterized by comprising

The shell (100), the shell (100) has an inner cavity (110), one end of the inner cavity (110) is a closed end, and the closed end is provided with a through hole (111) for communicating the inner cavity (110) with an external space;

one end of the connecting rod (200) is a limiting end, the limiting end is located in the inner cavity and is provided with a limiting piece (210), the other end of the connecting rod (200) is a connecting end, and the connecting end is used for being connected with a mechanical arm;

the elastic piece (300) is sleeved on the connecting rod (200), one end of the elastic piece (300) is abutted against the closed end, and the other end of the elastic piece (300) is abutted against the limiting piece (210);

wherein the diameter of the limiting sheet (210) is larger than that of the through hole (111).

2. The buffer structure of claim 1, wherein the elastic member (300) is a double-spring structure, and comprises a first spring and a second spring, and the first spring and the second spring are both sleeved on the connecting rod.

3. A cushioning structure according to claim 2, wherein said first spring has a diameter larger than a diameter of said second spring.

4. A heavy load robot comprising a robot body and a buffer structure according to any of claims 1-3, said robot body comprising a base structure (410), a first robot arm (420) and a second robot arm (430); the base structure (410) is further provided with a second rotating motor (411), and a power output shaft of the second rotating motor (411) is connected with one end of the first mechanical arm (420) and used for driving the first mechanical arm (420) to rotate; a third rotating motor (421) is arranged at the other end of the first mechanical arm (420), a power output shaft of the third rotating motor (421) is connected with one end of the second mechanical arm (430) and used for driving the second mechanical arm (430) to rotate, and the other end of the second mechanical arm (430) is used for realizing the grabbing of materials; wherein the connecting end is hinged to the first mechanical arm (420).

5. A heavy load robot arm as claimed in claim 4, characterized in that the base structure (410) is provided with a mounting (412) for mounting the damping structure, the mounting (412) being connected to the housing (100); the mounting seat (412) is provided with a rotating ring (412 a), the shell (100) is sleeved in the rotating ring (412 a), and the rotating ring (412 a) is hinged to the mounting seat.

6. A heavy load robot arm as claimed in claim 4, characterized in that the robot arm body further comprises a buffer connection plate (440), the buffer connection plate (440) has a first connection end, a second connection end and a third connection end, wherein the first connection end is connected to the base structure (410) through a first pull rod (441), the second connection end is connected to one end of the second robot arm (430) through a second pull rod (442), the third connection end is arranged at the other end of the second robot arm (430), and the connection position of the third connection end to the second robot arm is at the connection position of the second robot arm (430) to the first robot arm (420).

7. A heavy load robot arm as claimed in claim 6, characterized in that the robot arm body further comprises a control module for controlling the movement of the robot arm body, the first pull rod (441) comprises a first connecting rod (441 a) and a second connecting rod (441 b), one end of the first connecting rod (441 a) is connected with the first connecting end, and the other end of the first connecting rod (441 a) is provided with a piston sleeve; one end of the second connecting rod (441 b) is matched with the piston sleeve, and the other end of the second connecting rod (441 b) is connected with the base structure (410); the piston sleeve is in sliding fit with the end part of the second connecting rod (441 b), a feedback structure is arranged inside the piston sleeve and is in signal connection with the control module, and when the second connecting rod (441 b) moves in the piston sleeve and triggers the feedback structure, the feedback structure sends a signal to the control module to stop the mechanical arm body.

8. A heavy load robot arm as claimed in any of claims 4-7, characterized in that it further comprises a mounting table (500), said base structure (410) being mounted on said mounting table (500), and said base structure (410) further being provided with a first rotating motor for driving the base structure (410) in rotation; wherein the mounting table (500) is supported by a columnar structure surrounded by a plurality of steel plates.

9. A heavy duty robot arm as claimed in claim 8, wherein said mounting table (500) is further provided with a limiting structure for limiting the range of rotation of said base structure (410); the limiting structure comprises a positioning hole (510) and a positioning block (520), the positioning block (520) is provided with a connecting column which is in nested fit with the positioning hole (510), and the positioning hole (510) is detachably connected with the positioning block (520) through the connecting column.

10. A heavy load mechanical arm as claimed in claim 9, wherein the positioning hole (510) is a plurality of positioning holes, the positioning holes (510) are positioned on the same circumference line and are arranged at intervals, and the circumference line is positioned on the axis of the mounting table; the connecting columns are matched with different positioning holes (510) to realize the relative position change of the positioning blocks (520) on the mounting table top (500).