CN219119265U - Multi-angle net hanging mechanical arm - Google Patents

Abstract

A multi-angle net hanging mechanical arm comprises a telescopic arm, a mechanical arm, a base, a primary rotating mechanism and a secondary rotating mechanism; one end of the telescopic arm is rotationally connected with the base through a primary rotating mechanism, and the other end of the telescopic arm is rotationally connected with the manipulator through a secondary rotating mechanism; the primary rotating mechanism comprises a primary swinging oil cylinder and a secondary swinging oil cylinder which are connected with each other; the rotating shaft of the primary swing oil cylinder is perpendicular to the rotating shaft of the secondary swing oil cylinder; the primary swing oil cylinder is used for driving the telescopic arm to swing in the vertical direction; the secondary swing oil cylinder is used for driving the telescopic arm to swing in the horizontal direction.

Description

Multi-angle net hanging mechanical arm

Technical Field

The application relates to the technical field of excavating supporting mechanized equipment, in particular to a multi-angle net hanging mechanical arm.

Background

The supporting mechanical arm in the prior art is a special device designed for supporting the anchor rods and the anchor cables in the process of tunneling, and is commonly used for tunnel working face anchor rod supporting operation of underground mine stopes and other underground engineering; the mechanization of the anchor bolt support construction is realized, so that the burden of personnel is reduced, and the working efficiency and the construction quality are improved.

The Chinese patent discloses a temporary support device (publication No. CN 214273500U) for an anchor rod drill carriage, which comprises a base, wherein the base is arranged on the anchor rod drill carriage, one end of the base is hinged with a plurality of connecting rods, and the tail ends of the connecting rods are hinged with support connecting seats; the base, the plurality of connecting rods and the supporting connecting seat form a four-bar mechanism, and the other end of the base is hinged with a push plate part; the device also comprises a push plate lifting oil cylinder, wherein one end of the push plate lifting oil cylinder is hinged to the base, and the other end of the push plate lifting oil cylinder is hinged to the push plate part; the push plate lifting oil cylinder actuates the push plate part to swing relative to the base.

However, the existing supporting mechanical arm mostly moves up and down in the vertical direction, and when the requirement of hanging or grabbing a net exists in the horizontal direction, a worker is required to carry a net body, so that the net is hung on the mechanical arm; or the whole platform for installing the mechanical arm needs to be rotated; the operation of manually hanging the net is very inconvenient in actual work and dangerous.

Disclosure of Invention

For solving the problem that exists among the above-mentioned prior art, this application provides a multi-angle string of mechanical arm of net, can rotate and flexible in horizontal and vertical direction, and the flexibility ratio is high.

The technical scheme that this application adopted is:

a multi-angle net hanging mechanical arm comprises a telescopic arm, a mechanical arm, a base, a primary rotating mechanism and a secondary rotating mechanism;

one end of the telescopic arm is rotationally connected with the base through a primary rotating mechanism, and the other end of the telescopic arm is rotationally connected with the manipulator through a secondary rotating mechanism;

the primary rotating mechanism comprises a primary swinging oil cylinder and a secondary swinging oil cylinder which are connected with each other;

the rotating shaft of the primary swing oil cylinder is perpendicular to the rotating shaft of the secondary swing oil cylinder;

the primary swing oil cylinder is used for driving the telescopic arm to swing in the vertical direction;

the secondary swing oil cylinder is used for driving the telescopic arm to swing in the horizontal direction.

According to the embodiment of the utility model, the primary rotating mechanism further comprises a primary connecting seat;

the primary swing oil cylinder is fixed on the telescopic arm;

the secondary swing oil cylinder is fixed on the base;

the primary connecting seat is respectively connected with the output end of the primary swing oil cylinder and the output end of the secondary swing oil cylinder.

According to the embodiment of the utility model, the secondary rotating mechanism comprises a tertiary swinging oil cylinder and a quaternary swinging oil cylinder which are connected with each other;

the rotating shaft of the three-stage swing oil cylinder is perpendicular to the rotating shaft of the four-stage swing oil cylinder;

the three-stage swing oil cylinder is used for driving the manipulator to move in the vertical direction;

the four-stage swing oil cylinder is used for controlling the manipulator to overturn.

According to the embodiment of the utility model, the secondary transmission mechanism further comprises a secondary connecting seat and a tertiary connecting seat;

the three-stage swing oil cylinder is fixed on the telescopic arm, and the output end of the three-stage swing oil cylinder is connected with a second-stage connecting seat;

the four-stage swing oil cylinder is fixed on the three-stage connecting seat, and the output end of the four-stage swing oil cylinder is connected with the manipulator;

the secondary connecting seat is connected with the tertiary connecting seat.

According to an embodiment of the utility model, the telescopic arm comprises an outer cylinder arm and an inner cylinder arm;

a telescopic piece is connected between the outer cylinder arm and the inner cylinder arm;

the inner cylinder arm is connected in the inner cavity of the outer cylinder arm in a sliding way through the telescopic piece.

According to the embodiment of the utility model, the telescopic piece is a primary telescopic cylinder;

the primary telescopic cylinder is used for controlling the inner cylinder arm to slide and stretch in the inner cavity of the outer cylinder arm.

According to an embodiment of the utility model, at least two clamps are provided on the outer surface of the outer cylinder arm.

According to an embodiment of the utility model, the manipulator comprises a mounting frame;

the mounting frame is connected with the secondary rotating mechanism, and two claw plates are also connected to the mounting frame in a sliding manner;

and a telescopic piece is connected between the claw plates.

According to the embodiment of the utility model, the telescopic piece is a secondary telescopic oil cylinder, and the two claw plates are respectively connected with the fixed end and the output end of the secondary telescopic oil cylinder;

the claw plate is provided with a guide groove, the mounting frame is also provided with a fixing pin, and the claw plate slides in the mounting frame through the cooperation between the fixing pin and the guide groove;

the manipulator is also provided with a travel limiting mechanism, and the travel limiting mechanism is used for limiting the moving distance of the claw plate on the mounting plate.

According to the embodiment of the utility model, the claw plate is provided with the claw, and the claw is arranged to exceed the mounting frame;

the guide groove comprises an arc-shaped groove;

the arc-shaped groove is arranged on one side, close to the claw, of the guide groove and bends towards the position where the claw is located.

The beneficial effects of this application lie in:

the first-stage swing oil cylinder can drive the telescopic boom to swing up and down in the vertical direction, the second-stage swing oil cylinder can drive the telescopic boom to swing left and right in the horizontal direction, and the mechanical arm has more degrees of freedom, so that the movement of the mechanical arm is more flexible.

Drawings

The present application will be described in further detail below in conjunction with the drawings and preferred embodiments, but it will be appreciated by those skilled in the art that these drawings are drawn for the purpose of illustrating the preferred embodiments only and thus should not be taken as limiting the scope of the present application. Moreover, unless specifically indicated otherwise, the drawings are merely schematic representations, not necessarily to scale, of the compositions or constructions of the described objects and may include exaggerated representations.

Fig. 1 is a schematic structural diagram of a view angle of a multi-angle net hanging mechanical arm according to an embodiment of the present application;

fig. 2 is a schematic structural diagram of two view angles of a multi-angle net hanging mechanical arm in the embodiment of the application;

FIG. 3 is an exploded schematic view of a manipulator in an embodiment of the present application;

FIG. 4 is an exploded schematic view of a secondary rotating mechanism in an embodiment of the present application;

FIG. 5 is an exploded view of a telescoping arm and primary rotating mechanism in an embodiment of the present application;

FIG. 6 is an exploded view of a claw plate and a secondary telescopic ram according to an embodiment of the present application;

fig. 7 is an exploded view of the claw plate and the secondary telescopic ram in the embodiment of the present application.

In the figure: 1. a base; 2. a primary rotation mechanism; 21. a second-stage swing cylinder; 22. a primary connecting seat; 23. a first-stage swing oil cylinder; 3. a telescoping arm; 31. an outer cylinder arm; 32. an inner cylinder arm; 33. a first-stage telescopic oil cylinder; 34. a clamp; 4. a secondary rotating mechanism; 41. three-stage swinging oil cylinders; 42. a four-stage swing oil cylinder; 43. a secondary connecting seat; 44. a third-stage connecting seat; 5. a manipulator; 51. a mounting frame; 52. a claw plate; 521. a guide groove; 522. a claw; 53. a fixing pin; 54. a second-stage telescopic oil cylinder; 61. a first travel limit plate; 62. a second stroke limiting plate; 63. a travel groove; 64. and a stroke limiting column.

Detailed Description

In order to make those skilled in the art better understand the technical solutions of the present application, the following detailed, clear and complete description of the present application is provided with reference to the accompanying drawings and examples. It should be understood that the specific embodiments described herein are for purposes of illustration only and are not intended to limit the present application.

In the description of the present utility model, the description of the first and second is only for the purpose of distinguishing technical features, and should not be construed as indicating or implying relative importance or implying the number of technical features indicated or the precedence of the technical features indicated.

It will be appreciated by those skilled in the art that in the present disclosure, the terms "longitudinal," "transverse," "upper," "lower," "front," "rear," "left," "right," "vertical," "horizontal," "top," "bottom," "inner," "outer," etc. refer to an orientation or positional relationship based on that shown in the drawings, which is merely for convenience of description and to simplify the description, and do not indicate or imply that the apparatus or elements referred to must have a particular orientation, be constructed and operated in a particular orientation, and therefore the above terms should not be construed as limiting the present utility model.

Example 1

Referring to fig. 1-5, the present embodiment provides a multi-angle net hanging mechanical arm.

The mechanical arm comprises a telescopic arm 3, a mechanical arm 5, a base 1, a primary rotating mechanism 2 and a secondary rotating mechanism 4, wherein the tail end of the telescopic arm 3 is rotatably connected with the base 1 through the primary rotating mechanism 2, and the top end of the telescopic arm 3 is rotatably connected with the mechanical arm 5 through the secondary rotating mechanism 4.

The primary rotating mechanism 2 comprises a primary swinging oil cylinder 23, a primary connecting seat 22 and a secondary swinging oil cylinder 21 which are sequentially connected; the primary swinging oil cylinder 23 is fixedly connected to the tail end of the telescopic arm 3 through a bolt, a circle of screw holes are formed in the output end of the primary swinging oil cylinder 23, and the primary swinging oil cylinder 23 is connected with the primary connecting seat 22 through the screw holes through a bolt.

The primary connecting seat 22 comprises a top plate and side plates arranged on two sides of the top plate, and the top plate is used for connecting the output end of the primary swinging oil cylinder 23; the side plates on the two sides are respectively connected with the output ends on the two sides of the secondary swing oil cylinder 21, the secondary swing oil cylinder 21 is limited in the space between the two side plates in the connection mode, and the output ends on the two sides of the secondary swing oil cylinder 21 are fixedly connected with the primary connecting seat 22 through bolts.

The side plates are vertically arranged on two sides of the top plate respectively, so that the axis of the rotating shaft of the primary swing oil cylinder 23 and the axis of the rotating shaft of the secondary swing oil cylinder 21 are exactly perpendicular to each other in such a setting; the secondary swing oil cylinder 21 is fixedly connected to the base 1 through bolts; when the secondary swing oil cylinder 21 moves, the output end of the secondary swing oil cylinder rotates to drive the primary connecting seat 22 to horizontally swing back and forth in a plane formed by the X axis and the Y axis; when the primary swing oil cylinder 23 moves, the output end of the primary swing oil cylinder rotates, so that the telescopic arm 3 is driven to vertically swing between the upper part and the lower part of a plane formed by the X axis and the Y axis; by the method, the telescopic arm 3 can swing randomly in the horizontal and vertical directions, so that the mechanical arm can move flexibly.

The secondary rotating mechanism 4 comprises a tertiary swinging oil cylinder 41, a quaternary swinging oil cylinder 42, a secondary connecting seat 43 and a tertiary connecting seat 44.

The top of the telescopic arm 3 is provided with a connecting block with an L-shaped cross section, the bottom surface of the connecting block is connected to the top of the telescopic arm 3, the three-stage swing oil cylinder 41 is fixedly connected to the side surface of the connecting block through a circle of bolts, and the three-stage swing oil cylinder 41 is located in a space formed by two surfaces of the L-shaped connecting block.

When the primary swing cylinder 23 and the secondary swing cylinder 21 are not started, the mechanical arm is in an initial state in which the direction of the axis of the rotation shaft of the tertiary swing cylinder 41 is the same as the direction of the X axis.

The two-stage connecting seat 43 and the three-stage connecting seat 44 are also L-shaped; the secondary connection seat 43 and the tertiary connection seat 44 comprise a bottom plate and a side plate which are vertically arranged and are connected with each other; the side plate of the second-stage connecting seat 43 is connected with the output end of the third-stage swinging oil cylinder 41 through bolts, the bottom plate of the second-stage connecting seat 43 is connected with the bottom plate of the third-stage connecting seat 44 through bolts, the surface, far away from the second-stage connecting seat 43, of the bottom plate of the third-stage connecting seat 44 is also connected with the fourth-stage swinging oil cylinder 42 through bolts, and the side plate of the third-stage connecting seat 44 is provided with a baffle plate for protecting the fourth-stage swinging oil cylinder 42; the output end of the four-stage swing oil cylinder 42 is connected with the manipulator 5 through bolts, and the axis of the rotating shaft of the four-stage swing oil cylinder 42 is also perpendicular to the axis of the rotating shaft of the three-stage swing oil cylinder 41.

Further, in this state and in the installation mode, when the three-stage swing cylinder 41 rotates, the two-stage connecting seat 43 and the three-stage connecting seat 44 are driven to vertically swing between the upper and lower sides of the plane formed by the X axis and the Y axis; in this state, the rotation axis of the four-stage swing cylinder 42 is in the same direction as the Y axis, and when the four-stage swing cylinder 42 moves, the robot arm 5 is driven to turn around the rotation axis of the four-stage swing cylinder 42.

Example two

Referring to fig. 1-5, the present embodiment provides another embodiment based on the above embodiment.

The telescopic arm 3 comprises an outer cylinder arm 31 and an inner cylinder arm 32, the outer cylinder arm 31 is sleeved outside the inner cylinder arm 32, and a primary telescopic cylinder 33 is connected between the outer cylinder arm 31 and the inner cylinder arm 32.

A section of mounting pin is arranged at the rear of the inner cavity of the outer cylinder arm 31, and a section of mounting pin is also arranged at the rear of the inner cylinder arm 32; the fixed end and the output end of the primary telescopic oil cylinder 33 are respectively provided with a mounting ring; the mounting ring on the fixed end of the primary telescopic cylinder 33 is in fit connection with the mounting pin of the outer cylinder arm 31, and the mounting ring on the output end of the primary telescopic cylinder 33 is in fit connection with the mounting pin of the inner cylinder arm 32; when the output end of the primary telescopic cylinder 33 extends or contracts, the telescopic movement of the inner cylinder arm 32 in the inner cavity of the outer cylinder arm 31 can be realized on the premise that the outer cylinder arm 31 is kept fixed, so that the manipulator 5 has a wider working distance.

Further, the primary swinging oil cylinder 23 is connected to the outer surface of the outer cylinder arm 31 by bolts; the three-stage swing cylinder 41 is connected to the top end of the inner cylinder arm 32 through an "L" shaped connection block.

The extension and retraction of the inner cylinder arm 32 drives the secondary rotating mechanism 4 to extend and retract together with the manipulator 5.

The surface of the outer barrel arm 31 is provided with two clamps 34 along the axial direction of the outer barrel arm 31, the clamps 34 are pipe frames, the middle part of each pipe frame is provided with a hollow, and the hollow is used for accommodating a pipeline. Through passing the pipeline through the fretwork, realize the clamp of pipe support to the pipeline to realize carrying the terminal object of waiting of flexible arm 3 to the front end of flexible arm 3 through the pipeline.

Example III

Referring to fig. 1-7, the present embodiment provides another embodiment based on the above embodiment.

The manipulator 5 is provided with a mounting frame 51, the mounting frame 51 comprises two mounting plates which are arranged in parallel and a bracket which is connected with the two mounting plates, the inner sides of the two mounting plates are respectively connected with a claw plate 52 in a sliding way, each claw plate 52 is provided with two guide grooves 523, each guide groove 523 comprises a straight groove and an arc groove, the straight groove is communicated with the arc groove, the arc groove is arranged on one side of the guide groove 523, which is close to the hook 522, meanwhile, the arc groove is also arranged to be bent and tilted towards the position where the hook 522 is located, and the radian of the arc groove is pi/6; the direction of the axis of the straight groove is parallel to the bottom edge of the claw plate 52.

Further, the two guiding grooves 523 of each claw plate 52 are staggered, specifically, the guiding groove 523 close to the claw 522 in the guiding grooves 523 is named as a first guiding groove 523, and the guiding groove 523 far from the claw 522 is named as a second guiding groove 523; when the claw plate 52 is placed in a natural state, the projections of the first guide groove 523 and the second guide groove 523 in the horizontal and vertical directions do not coincide, and the first guide groove 523 is disposed closer to the claw 522 with respect to the second guide groove 523 in the vertical direction or in the horizontal direction.

Further, the two mounting plates are fixed and positioned by three fixing pins 53, the three fixing pins 53 are equally spaced and symmetrically mounted on the mounting plates, and the height of the fixing pins 53 mounted at the central position in the vertical direction is set lower than the height of the fixing pins 53 mounted at the two side positions; wherein the fixing pin 53 installed at the center position passes through both the claw plates 52 at the same time, and in particular, the fixing pin 53 passes through the second guide grooves 523 of both the claw plates 52 at the same time; the remaining two fixing pins 53 disposed at both sides of the mounting plate respectively pass through and only pass through the guide slots 523 of one of the claw plates 52, and specifically, both fixing pins 53 pass through only the first guide slots 523 formed in the corresponding claw plate 52 at the mounting position thereof; the claw plate 52 can be relatively slid in the mounting bracket 51 by the engagement between the fixing pin 53 and the two guide grooves 523.

Further, a travel limiting mechanism is further arranged on the manipulator 5; the stroke limiting mechanism comprises a first stroke limiting plate 61, a second stroke limiting plate 62 and a stroke limiting column 64, wherein the first stroke limiting plate 61 is fixed on a mounting plate, the second stroke limiting plate 62 is fixed on a claw plate 52 connected to the mounting plate, stroke grooves 63 are formed in the first stroke limiting plate 61 and the second stroke limiting plate 62, and the stroke limiting column 64 is respectively connected with the stroke grooves 63 in the first stroke limiting plate 61 and the stroke grooves 63 in the second stroke limiting plate 62 in a matched manner; when the claw plate 52 moves relative to the mounting plate, the travel limit posts 64 move in the two travel slots 63 relative to the first travel limit plate 61 and the second travel limit plate 62, and the claw plate 52 limits the moving distance on the mounting plate by the travel limit mechanism.

Further, a secondary telescopic oil cylinder 54 is arranged below the mounting frame 51, the fixed end of the secondary telescopic oil cylinder 54 is connected with the bottom of one of the claw plates 52 through bolts, and the output end of the secondary telescopic oil cylinder 54 is connected with the bottom of the other claw plate 52 through bolts; when the secondary telescopic cylinder 54 moves, the output end stretches and contracts relative to the fixed end, and at this time, the distance between the two claw plates 52 is driven to be shortened or lengthened.

Further, the claw plates 52 are further provided with claws 522, and the directions of the claws 522 on the two claw plates 52 are set to be that the tips are arranged back, wherein the direction of the claw 522 of one claw plate 52 faces one side, and the direction of the claw 522 of the other claw plate 52 faces the other side; and the length of the fingers 522 are configured to protrude beyond the length of the mounting plate.

When the secondary telescopic cylinder 54 is contracted, the two claw plates 52 slide towards each other, the distance between the two claws 522 is also reduced, and when the distance between the claws 522 is reduced to be smaller than the mesh size of the net surface of the support net, the two claws 522 are buckled into the same mesh; at this time, the two claw plates 52 slide away from each other, the distance between the two claws 522 is also increased, the clamping of the claws 522 to the meshes is completed at this time, and the supporting mesh is grabbed to a proper position by the movement of each swing cylinder and the first-stage telescopic cylinder 33, so that the mesh hanging or mesh taking operation is realized.

The arc-shaped groove can enable the claw 522 to protrude into or retract for a distance when the claw plate 52 is extended or retracted, so that the net surface is not easy to damage, and net hanging and net taking are facilitated.

Any combination of the above embodiments is possible.

The foregoing has outlined rather broadly the principles and embodiments of the present application in order that the detailed description of the utility model may be better understood, and in order that the present application may be better understood. It should be noted that it would be obvious to those skilled in the art that various improvements and modifications can be made to the present application without departing from the principles of the present application, and such improvements and modifications fall within the scope of the claims of the present application.

Claims (10)

1. A multi-angle net hanging mechanical arm comprises a telescopic arm (3), a mechanical arm (5), a base (1), a primary rotating mechanism (2) and a secondary rotating mechanism (4);

one end of the telescopic arm (3) is rotationally connected with the base (1) through a primary rotating mechanism (2), and the other end of the telescopic arm (3) is rotationally connected with the manipulator (5) through a secondary rotating mechanism (4);

it is characterized in that the method comprises the steps of,

the primary rotating mechanism (2) comprises a primary swinging oil cylinder (23) and a secondary swinging oil cylinder (21) which are connected with each other;

the rotating shaft of the primary swing oil cylinder (23) is perpendicular to the rotating shaft of the secondary swing oil cylinder (21);

the primary swing oil cylinder (23) is used for driving the telescopic arm (3) to swing in the vertical direction;

the secondary swing oil cylinder (21) is used for driving the telescopic arm (3) to swing in the horizontal direction.

2. The multi-angle net hanging mechanical arm according to claim 1, wherein the primary rotating mechanism (2) further comprises a primary connecting seat (22);

the primary swing oil cylinder (23) is fixed on the telescopic arm (3);

the secondary swing oil cylinder (21) is fixed on the base (1);

the primary connecting seat (22) is respectively connected with the output end of the primary swing oil cylinder (23) and the output end of the secondary swing oil cylinder (21).

3. The multi-angle net hanging mechanical arm according to claim 2, wherein the secondary rotating mechanism (4) comprises a tertiary swinging oil cylinder (41) and a quaternary swinging oil cylinder (42) which are connected with each other;

the rotating shaft of the three-stage swing oil cylinder (41) is perpendicular to the rotating shaft of the four-stage swing oil cylinder (42);

the three-stage swing oil cylinder (41) is used for driving the manipulator (5) to move in the vertical direction;

the four-stage swing oil cylinder (42) is used for controlling the manipulator (5) to overturn.

4. A multi-angle net hanging mechanical arm according to claim 3, wherein the secondary rotating mechanism further comprises a secondary connecting seat (43) and a tertiary connecting seat (44);

the three-stage swing oil cylinder (41) is fixed on the telescopic arm (3), and the output end of the three-stage swing oil cylinder (41) is connected with a second-stage connecting seat (43);

the four-stage swing oil cylinder (42) is fixed on the three-stage connecting seat (44), and the output end of the four-stage swing oil cylinder (42) is connected with the manipulator (5);

the secondary connecting seat (43) is connected with the tertiary connecting seat (44).

5. The multi-angle net hanging mechanical arm according to claim 1, wherein the telescopic arm (3) comprises an outer cylinder arm (31) and an inner cylinder arm (32);

a telescopic piece is connected between the outer cylinder arm (31) and the inner cylinder arm (32);

the inner cylinder arm (32) is connected in the inner cavity of the outer cylinder arm (31) in a sliding way through a telescopic piece.

6. The multi-angle net hanging mechanical arm according to claim 5, wherein the telescopic piece is a primary telescopic cylinder (33);

the primary telescopic cylinder (33) is used for controlling the inner cylinder arm (32) to slide and stretch in the inner cavity of the outer cylinder arm (31).

7. The multi-angle net hanging mechanical arm according to claim 6, wherein at least two clamps (34) are arranged on the outer surface of the outer cylinder arm (31).

8. The multi-angle net hanging mechanical arm according to claim 1, wherein the mechanical arm (5) comprises a mounting frame (51);

the mounting frame (51) is connected with the secondary rotating mechanism (4), and the mounting frame (51) is also connected with two claw plates (52) in a sliding manner;

and telescopic pieces are connected between the claw plates (52).

9. The multi-angle net hanging mechanical arm according to claim 8, wherein the telescopic piece is a secondary telescopic cylinder (54), and the two claw plates (52) are respectively connected with the fixed end and the output end of the secondary telescopic cylinder (54);

the claw plate (52) is provided with a guide groove (521), the mounting frame (51) is also provided with a fixing pin (53), and the claw plate (52) slides in the mounting frame (51) through the cooperation between the fixing pin (53) and the guide groove (521);

and the mechanical arm (5) is also provided with a travel limiting mechanism which is used for limiting the moving distance of the claw plate (52) on the mounting plate.

10. The multi-angle net hanging mechanical arm according to claim 9, wherein the claw plate (52) is provided with a claw (522), and the claw (522) is arranged to exceed the mounting frame (51);

the guide groove (521) comprises an arc-shaped groove;

the arc-shaped groove is arranged on one side of the guide groove (521) close to the hook claw (522) and is bent towards the position where the hook claw (522) is located.

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