A robotic arm that can adjust the receiving position

Abstract

The present invention relates to a mechanical arm capable of adjusting a receiving position. The first pivot mechanism and the second pivot mechanism drive the connecting rod and the first body to rotate, so that the receiving part arranged on the second body can receive the received object. The function of receiving the received object is achieved with fewer rotating mechanisms, which greatly reduces the maintenance cost and time. The receiving unit is driven only by the rotation of the connecting rod, which effectively reduces the rotation space required for rotation and improves the space utilization rate. At the same time, since there are fewer components that need to cooperate with each other, the overall actuation efficiency is greatly improved. The relative position between the first and second bodies is controlled by the control unit, so that the position of the receiving part can be adjusted. No matter how long it is used continuously, the position is not easy to deviate, which effectively reduces the risk of objects falling due to the deviation of the receiving position.

Description

Technical field:

[0001] The present invention relates to a mechanical arm, in particular to a mechanical arm with a small rotation radius and adjustable receiving position. Background technology:

[0002] In order to improve work efficiency and stability, general manufacturers will often use robotic arms to assist in operations, such as using robotic arms to lift, move, and place objects. Especially for wafer fabs or panel fabs, robotic arms are indispensable equipment.

[0003] Please refer to Taiwan Patent Certificate No. I561353 "Substrate Handling Equipment", which discloses: According to the substrate handling equipment of the present invention, the other end of the second arm exposed to the outside of the sliding member and connected to the other end of the first arm is rotated in the positive and negative directions by the arm driving unit. Therefore, even in the dead point state where the virtual straight line connecting the two ends of the first arm overlaps and is parallel to the virtual straight line connecting the two ends of the second arm, the first arm and the second arm are easy to unfold. It is easy to slide the sliding member provided with the robot using only the first arm and the second arm, and the structure is simple, so the cost can be effectively reduced.

[0004] Although the patent has the above advantages, however, Figure 1 In view, the substrate handling equipment is a multi-axis robotic arm with up to 6 rotating shafts, which makes the overall mechanical structure increasingly complex, not only increasing the risk of failure, but also consuming considerable cost or time in maintenance. In addition, due to the complexity of the structure, the components of the substrate handling equipment must coordinate and cooperate with each other during operation, which greatly limits the overall work efficiency, thereby causing a decrease in the overall work efficiency.

[0005] Moreover, the substrate handling device does not have a correction function. Once used for a long time, the position of the fork (i.e., the first manipulator 151 and the second manipulator 155 in the patent specification) is easily offset. In this state, the object to be received is easily dropped during the receiving process, causing losses to the manufacturer. Therefore, the inventor believes that there is a need for improvement. Summary of the invention:

[0006] In view of the above-mentioned shortcomings of the background technology, the inventor proposes a solution, which is a mechanical arm capable of adjusting the receiving position, including:

[0007] A mechanical arm body.

[0008] First connecting rod:

[0009] The connecting rod has two opposite first ends and a second end. The first end is horizontally pivoted with the robot arm body by a first pivot mechanism so that the connecting rod can rotate horizontally with the first end as the axis.

[0010] A receiving unit includes:

[0011] 1. The first body:

[0012] The other end of the connecting rod is horizontally pivoted with the first body through a second pivot mechanism, so that the first body can rotate horizontally with the other end as the axis.

[0013] 1. The second body:

[0014] The second strip body is arranged at one side of the long side of the first strip body, and the side of the second strip body facing the object to be received is defined as the front side.

[0015] - The first transverse movement mechanism:

[0016] The first transverse movement mechanism is dynamically connected to the second strip body to drive the second strip body to move transversely along one side of the long side of the first strip body.

[0017] One acceptance:

[0018] The receiving member is arranged on the second strip body, and the receiving member is exposed relative to the front side of the second strip body. The receiving member is used for receiving the object to be received.

[0019] A control unit:

[0020] The control unit is respectively connected to the first pivot mechanism, the second pivot mechanism, and the first transverse movement mechanism, and the control unit can be used to control the first pivot mechanism and the second pivot mechanism to rotate, and the control unit can be used to control the actuation of the first transverse movement mechanism to adjust the relative position of the receiving member and the first strip body.

[0021] The robotic arm capable of adjusting the receiving position, wherein the robotic arm body includes a connecting member and a second transverse movement mechanism directly / indirectly connected to the connecting member by power, the second transverse movement mechanism can drive the connecting member to move forward and backward, and the first pivot mechanism is disposed in the connecting member.

[0022] The robotic arm capable of adjusting the receiving position, wherein the robotic arm body includes a connecting member and a lifting mechanism directly / indirectly poweredly connected to the connecting member, the lifting mechanism can drive the connecting member to move vertically, and the first pivot mechanism is disposed in the connecting member.

[0023] The robotic arm capable of adjusting the receiving position is further provided with a first position detector connected to the control unit. The first position detector can detect the position of the receiving member receiving the object to be received and obtain a position detection result. When the position detection result does not meet the default value, the control unit controls the first transverse movement mechanism to actuate according to the position detection result to adjust the relative position of the receiving member and the first strip.

[0024] The robotic arm capable of adjusting the receiving position is further provided with an alarm connected to the control unit. When two consecutive position detection results do not meet the default value, the control unit controls the first pivot mechanism, the second pivot mechanism, and the first transverse movement mechanism to stop operating, and controls the alarm to operate at the same time.

[0025] The robotic arm capable of adjusting the receiving position is further provided with a horizontal detector connected to the control unit. The horizontal detector can detect the tilt condition of the receiving part to obtain a horizontal detection result. When the horizontal detection result exceeds a horizontal default value, the control unit controls the alarm to be activated.

[0026] The robotic arm capable of adjusting the receiving position, wherein the control unit can provide information connection to a vibration detection unit, and the vibration detection unit can detect the vibration state of the robotic arm to obtain a vibration detection value. When the vibration detection value exceeds a threshold value, if the receiving member is in the state of receiving the object to be received, the first pivot mechanism, the second pivot mechanism, and the first transverse movement mechanism are first controlled to operate, so as to place the object to be received, and then the first pivot mechanism, the second pivot mechanism, and the first transverse movement mechanism are controlled to stop operating; if the receiving member is in the state of not receiving the object to be received, the first pivot mechanism, the second pivot mechanism, and the first transverse movement mechanism are controlled to stop operating.

[0027] The robotic arm capable of adjusting the receiving position is further provided with a second position detection unit connected to the control unit via information. The second position detection unit is capable of detecting the relative position between the receiving unit and the object to be received, and obtaining a relative position detection result. The control unit is capable of determining the rotation amount of the connecting rod according to the relative position detection result, and controlling the actuation of the first pivot mechanism according to the rotation amount.

[0028] The mechanical arm capable of adjusting the receiving position, wherein the receiving member can be selected from one of the following groups: a plurality of tooth forks, a plate body, and a fork body.

[0029] The mechanical arm capable of adjusting the receiving position, wherein a non-slip unit is provided on the top surface of the receiving member.

[0030] It can be seen from the above structure that the present invention greatly reduces the number of rotating shafts without affecting the receiving function. In this way, the overall mechanical structure is greatly simplified, which not only reduces the risk of mechanical failure, but also saves a lot of costs in repair or maintenance. At the same time, through the structural design of the present invention, the required rotation radius of the robot arm when it is actuated is also smaller, so that more machines and more robot arms can be configured flexibly, effectively improving the space utilization rate. In addition, due to the reduction in the number of components, the problem of mutual cooperation, coordination, and control of each component during actuation is also greatly reduced, so that the overall work efficiency can be greatly improved. In addition, the control unit controls the actuation of the first transverse movement mechanism, so that the position of the receiving member is not easy to shift with the increase of use time. Furthermore, the angle position of picking up and placing objects can be freely controlled in a customized manner, so that the risk of the object to be received falling during the receiving process can be reduced. Description of the drawings:

[0031] Figure 1 This is a top view schematic diagram and a top view operation schematic diagram of the present invention. Figure 1 ;

[0032] Figure 2 This is a top view of the present invention. Figure 2 ;

[0033] Figure 3 This is a top view of the present invention. Figure 3 ;

[0034] Figure 4 is a side view of the present invention in action;

[0035] Figure 5 It is a schematic diagram of the connection blocks of the components of the present invention.

[0036] Reference numerals:

[0037] 1Robotic arm body

[0038] 11 Connectors

[0039] 12 Second traverse mechanism

[0040] 13 Lifting mechanism

[0041] 2 Connecting rod

[0042] 3 Control unit

[0043] 4 Undertaking Unit

[0044] 41 First Body

[0045] 42 Second Body

[0046] 43 First traverse mechanism

[0047] 44 Attachment

[0048] 5. First pivot mechanism

[0049] 6 Second pivot mechanism

[0050] 7. First position detector

[0051] 8 Siren

[0052] 9 Level Detector

[0053] 0 Second position detector

[0054] 0A vibration detection unit Specific implementation method:

[0055] The advantages, features, requirements and specific implementations of the present invention are further described below with the aid of the accompanying drawings.

[0056] See also Figure 1 As shown, the present invention relates to a mechanical arm capable of adjusting a receiving position, comprising:

[0057] A robotic arm body 1:

[0058] See also Figure 1 Cooperate Figure 4 and Figure 5 As shown, the robot body 1 can be implemented as follows: the robot body 1 includes a connecting member 11 and a second transverse movement mechanism 12 that is dynamically connected to the connecting member 11, and the second transverse movement mechanism 12 can be used to drive the connecting member 11 to move forward and backward. The following description is based on the side of the robot arm facing the object A to be received when it is in motion as the front. In this way, the present invention can drive the connecting member 11 to move forward or backward through the second transverse movement mechanism 12 to adjust the distance from the object A to be received. In addition, all items that need to be transported by the robot arm of the present invention are the objects A to be received referred to in this description. Therefore, the object A to be received is, for example but not limited to, a glass panel, a wafer, and a wafer box (Foup), and the drawings of the description are presented using the object A to be received as a glass panel as an example.

[0059] Furthermore, in order to avoid the situation that the height of the robot arm cannot match the object A to be received, so that the robot arm body 1 cannot receive the object A to be received, the robot arm body 1 can also be implemented as follows: the robot arm body 1 includes the connecting member 11 and a lifting mechanism 13 that is directly / indirectly connected to the connecting member 11, and the lifting mechanism 13 can be used to drive the connecting member 11 to move vertically, so as to adjust the height of the object that the robot arm can receive. It is worth mentioning that the above direct / indirect means that when the robot arm body 1 has both the lifting mechanism 13 and the second transverse movement mechanism 12, the lifting mechanism 13 can be directly connected to the connecting member 11, and the second transverse movement mechanism 12 can be connected to the lifting mechanism 13, so as to form a state in which the second transverse movement mechanism 12 is indirectly connected to the connecting member 11; similarly, the second transverse movement mechanism 12 is directly connected to the connecting member 11, and the lifting mechanism 13 is connected to the second transverse movement mechanism 12, so as to form a state in which the lifting mechanism 13 is indirectly connected to the connecting member 11.

[0060] One connecting rod 2:

[0061] See also Figure 1 Cooperate Figure 5 As shown, the connecting rod 2 has two opposite first ends and a second end, and the first end is horizontally pivoted with the robot body 1 by a first pivot mechanism 5, so that the connecting rod 2 can be horizontally rotated with the first end as the axis, thereby forming a state in which the second end rotates toward the object A to be carried or rotates away from the object A to be carried. Taking the above-mentioned embodiment of the robot body 1 as an example, the first end of the connecting rod 2 is preferably pivoted with the connecting member 11 by the first pivot mechanism 5, and the first pivot mechanism 5 is preferably arranged inside the connecting member.

[0062] A receiving unit 4 includes:

[0063] A first body 41:

[0064] The other end of the connecting rod 2 is horizontally pivoted with the first bar 41 by a second pivot mechanism 6, so that the first bar 41 can rotate horizontally with the other end as the axis. It is worth mentioning that when the connecting rod 2 rotates with the first end as the axis, the second pivot mechanism 6 preferably drives the first bar 41 to rotate at the same time, and makes the front side of the first bar 41 parallel to the front side of the object A to be received. In addition, it is worth mentioning that the first pivot mechanism 5 and the second pivot mechanism 6 described in the present invention can be components that rotate independently, or the first pivot mechanism 5 and the second pivot mechanism 6 can be linked by a linkage mechanism such as gears to rotate simultaneously.

[0065] A second body 42:

[0066] See also Figure 1 As shown, the second strip body 42 is disposed on one side of the long side of the first strip body 41 , and the side of the second strip body 42 facing the object A to be received is defined as the front side.

[0067] A first transverse movement mechanism 43:

[0068] See also Figure 1 Cooperate Figure 5 As shown, the first transverse movement mechanism 43 is dynamically connected to the second strip body 42 to drive the second strip body 42 to move transversely along one side of the long side of the first strip body 41 .

[0069] 1. Acceptor 44:

[0070] See also Figure 1 As shown, the receiving member 44 is provided on the second strip body 42, and the receiving member 44 is exposed relative to the front side of the second strip body 42, and the receiving member 44 is used to receive the object A to be received. Anything that can receive the object A to be received is the receiving member referred to in this specification, and the receiving member 44 can be selected from one of the following groups: a plurality of tooth forks, a plate body, and a fork body, and can be adjusted according to different usage requirements. For example, when used to receive a glass panel, the receiving member 44 is preferably a plurality of tooth forks, and when used to receive a wafer box, the receiving member 44 is preferably a plate body. In addition, in order to prevent the object A to be received from slipping off the receiving member 44 during the receiving process, the top surface of the receiving member 44 is preferably paved with an anti-slip unit, and the anti-slip unit can be a pad with a high friction coefficient, or a surface with multiple particles. When the present invention is used in the semiconductor field, the anti-slip unit can be a convex column for insertion into the bottom surface of the wafer box. In addition to having a positioning function, it also has an anti-slip function. Due to the limitation of the display method of the accompanying drawings, the anti-slip unit is not shown in the accompanying drawings. Taking this specification as an example, when the present invention is used to receive a glass panel, the anti-slip unit is preferably a suction cup, which firmly sucks the glass panel by vacuuming to ensure stability during transportation. In addition, a detector is preferably provided inside the receiving member 44 to detect whether there is a received object on the surface of the receiving member 44, and transmit the detection result to the control unit 3.

[0071] A control unit 3:

[0072] See also Figure 5As shown, the control unit 3 is respectively connected to the first pivot mechanism 5, the second pivot mechanism 6, and the first transverse movement mechanism 43. The control unit 3 can control the first pivot mechanism 5 and the second pivot mechanism 6 to rotate, and the control unit 3 can control the actuation of the first transverse movement mechanism 43 to adjust the relative position of the receiving member 44 and the first strip 41. In addition, it is worth mentioning that the control unit 3 is preferably respectively connected to the lifting mechanism 13 and the second transverse movement mechanism 12 to control their actuation. As mentioned above, when the first pivot mechanism 5 and the second pivot mechanism 6 are implemented as independent actuation, the control unit 3 controls their actuation respectively. If the first pivot mechanism 5 and the second pivot mechanism 6 are implemented as linkage, the control unit 3 can control one of them. Taking this specification as an example, the control unit 3 is preferably to control the rotation of the first pivot mechanism 5 to drive the second pivot mechanism 6 to rotate.

[0073] The following is through Figure 1 The operation of the present invention is described as follows. First, when the robot arm is Figure 1 Turn into Figure 2 During the process, the control unit 3 controls the first pivot mechanism 5 and the second pivot mechanism 6 to rotate, so that the receiving member 44 gradually moves toward the object A to be received. In addition, during the rotation, the front sides of the first bar 41 and the second bar 42 respectively maintain a state parallel to the object A to be received. Then, the robot arm is Figure 2 Turn into Figure 3 In the state, the first pivot mechanism 5 will drive the connecting rod 2 to rotate to the end of the rotation path. Similarly, the second pivot mechanism 6 will also drive the first strip body 41 to rotate (at this time, the connecting rod 2, the first strip body 41 and the second strip body 42 are all displaced on the XY plane), so that the front side of the second strip body 42 is parallel to the object A to be received, and the receiving member 44 is in a state of receiving the object A to be received. It is worth mentioning that in Figure 1 Turn into Figure 2 in the process, or Figure 2 Turn into Figure 3During the process, the control unit 3 will also control the first transverse movement mechanism 43 to move the second strip 42 along the first strip 41, thereby determining the position of the receiving member 44. Taking the receiving member 44 as the implementation state of the multiple tooth forks as an example, the position of each tooth fork can be determined in this way, so that the position of each tooth fork is not easy to shift with the use time of the robot arm. Finally, according to the above steps and so on, the actions of taking out and placing the object A to be received can be completed. In addition, the present invention mainly achieves the effect of moving the receiving unit 4 forward and backward by rotating the pivot mechanisms 5 and 6. In this way, in actual implementation, there is no need to set the second transverse movement mechanism; however, if it is considered that the receiving unit 4 may have insufficient forward and backward movement, the second transverse movement mechanism 12 can be set to supplement the movement.

[0074] As can be seen from the above, the present invention has the following advantages:

[0075] 1. The position of the receiving member 44 is not easily offset:

[0076] The present invention controls the actuation of the first transverse movement mechanism 43 through the control unit 3 to adjust the position of the receiving member 44. In this way, the position of the receiving member 44 is not easily shifted as the robot arm is used for a long time, thereby reducing the problem of the object A to be received falling due to the shift described in the prior art.

[0077] 2. Easy maintenance:

[0078] Since the present invention utilizes the first pivot mechanism 5 and the second pivot mechanism 6, the object A to be received can be received with the least number of rotating axes. Compared with the multi-axis robot arm described in the prior art, the present invention greatly reduces the number of rotating axes, thereby reducing the complexity of the overall structure, thereby greatly reducing the risk of failure, and also reducing maintenance time and cost.

[0079] 3. Improve overall work efficiency:

[0080] As mentioned in the prior art, when a multi-axis robot arm is in motion, the components must be coordinated and controlled with each other, resulting in poor overall work efficiency. The present invention improves this problem by achieving the purpose of receiving the object A with the least rotating axis. In this way, the number of components that need to cooperate, coordinate and control with each other is greatly reduced, so that the overall work efficiency can be greatly improved.

[0081] 4. Reduce the turning radius:

[0082] The present invention mainly drives the receiving unit 4 through the rotation of the connecting rod 2, so that the rotation radius of the present invention is limited to the length of the connecting rod 2. Compared with the existing conventional technology, the overall rotation radius can be effectively reduced. Therefore, when the present invention is used in a factory or set inside an organization, it can not only effectively reduce the overall volume, but also can deploy the maximum number of machines and equipment in a limited space, thereby effectively improving the utilization rate of the factory space.

[0083] See also Figure 5 Cooperate Figure 1 As shown, the present invention also provides a function of automatically adjusting the position of the receiving member 44 receiving the object A to be received. Once the placement position of the object A to be received is offset, or the position of the receiving member 44 receiving the object A to be received is offset due to other factors, the present invention can automatically correct it, thereby avoiding the risk of the object A to be received falling due to a poor receiving position. To this end, the present invention can be implemented as follows: a first position detector 7 connected to the control unit 3 is further provided. The first position detector 7 can be used to detect the position of the receiving member 44 receiving the object A to be received and obtain a position detection result. When the position detection result does not meet the default value, the control unit 3 controls the first transverse movement mechanism 43 to actuate according to the position detection result, so as to adjust the relative position of the receiving member 44 and the first strip 41. The control action described here can be automatic control or manual control.

[0084] It is worth mentioning that the control unit 3 can control the first transverse movement mechanism 43 to react immediately, so as to timely adjust the relative position of the receiving member 44 and the first strip 41, or adjust the relative position of the receiving member 44 and the first strip 41 when receiving the object A to be received next time. In addition, when the control unit 3 determines that the position detection result is far above or far below the default value, an alarm 8 is activated to alert relevant staff to handle it immediately.

[0085] For the above example, please refer to Figure 5 Cooperate Figure 1As shown, after the control unit 3 adjusts the relative position, if the position detection result still cannot meet the default value, in order to prevent the object A to be received from falling during the receiving process, the control unit 3 preferably activates the alarm 8 to alert the relevant staff to handle it immediately. Therefore, the present invention can be further implemented as follows: an alarm 8 connected to the control unit is further provided, and when the position detection results for two consecutive times do not meet the default value, the control unit 3 controls the first pivot mechanism 5, the second pivot mechanism 6, and the first transverse movement mechanism 43 to stop, and controls the alarm 8 to start at the same time. In addition, the above-mentioned control of each component to stop can be to immediately stop the action when it is determined that the position detection results for two consecutive times do not meet the default value, or to stop the action after receiving the object A to be received, and the above-mentioned two consecutive times can also be three consecutive times, four consecutive times, etc., which can be adjusted according to the needs of the site.

[0086] There are many reasons why the object A to be received may fall during the receiving process. One of the reasons is that the horizontal position of the receiving member 44 is displaced, that is, it is in a tilted state. To avoid the risk of the object A to be received falling due to this tilted state, it is necessary to immediately stop and perform maintenance when the receiving member 44 is in a tilted state. Therefore, please refer to Figure 5 Cooperate Figure 1 As shown, the present invention can be further implemented as follows: a horizontal detector 9 connected to the control unit 3 is further provided, and the horizontal detector 9 can be used to detect the tilt condition of the receiving member 44 to obtain a horizontal detection result. When the horizontal detection result exceeds a horizontal default value, the control unit 3 controls the alarm 8 to be activated.

[0087] In the above embodiment, earthquake is also one of the factors that cause the objects to be received to fall. In order to reduce the losses caused by earthquake, the robot arm should be stopped immediately when an earthquake occurs. For this purpose, please refer to Figure 5 and Figure 1 As shown, the present invention can be further implemented as follows: the control unit 3 can provide information connection to a vibration detection unit 0A, and the vibration detection unit 0A can be used to detect the vibration state of the mechanical arm to obtain a vibration detection value. When the vibration detection value exceeds a threshold value, if the receiving member 44 is in the state of receiving the object A to be received, the first pivot mechanism 5, the second pivot mechanism 6, and the first transverse mechanism 43 are first controlled to actuate, so as to place the object A to be received, and then the first pivot mechanism 5, the second pivot mechanism 6, and the first transverse mechanism 43 are controlled to stop actuating; if the receiving member 44 is in the state of not receiving the object A to be received, the first pivot mechanism 5, the second pivot mechanism 6, and the first transverse mechanism 43 are controlled to stop actuating. In this way, when an earthquake occurs, the present invention can effectively prevent the object A to be received from falling.

[0088] Furthermore, in order to avoid the dilemma that the receiving member 44 still cannot receive the object A when the connecting rod 2 rotates to the end of the rotation path due to the replacement of the object A or other factors, the present invention can also provide a function of automatically adjusting the end of the rotation path to solve the above problem. Figure 5 Cooperate Figure 1 As shown, the present invention can be implemented as follows: a second position detector 0 connected to the control unit 3 is further provided, and the second position detector 0 can be used to detect the relative position of the receiving unit 4 and the object A to be received, and obtain a relative position detection result. The control unit 3 can be used to determine the rotation amount of the connecting rod 2 according to the relative position detection result, and control the first pivot mechanism 5 to actuate according to the rotation amount. In addition, the control unit 3 can also control the second transverse movement mechanism 12 to actuate instead of the above method, so as to adjust the relative position between the receiving member 44 and the object A to be received when the connecting rod 2 rotates to the end of the rotation path.

[0089] In summary, this case meets the requirements set forth in the Patent Law, and a patent application is filed in accordance with the law. The above description only lists the preferred embodiments of the present invention, and the claims of this case are still based on those listed in the request.

Claims

1. A mechanical arm capable of adjusting the receiving position, characterized in that: include: A robotic arm body; A connecting rod having two opposite first ends and a second end, wherein the first end is horizontally pivoted with the robot arm body by a first pivot mechanism, so that the connecting rod can rotate horizontally with the first end as the axis; A receiving unit, including: A first bar: the other end of the connecting rod is horizontally pivoted with the first bar by a second pivot mechanism, so that the first bar can rotate horizontally with the other end as the axis; A second strip body: provided at one side of the long side of the first strip body, and the side of the second strip body facing the object to be received is defined as the front side; a first transverse movement mechanism: dynamically connected to the second strip body, so as to drive the second strip body to move transversely along one side of the long side of the first strip body; A receiving member: provided on the second strip body, the receiving member is exposed relative to the front side of the second strip body, and the receiving member is used to receive the object to be received; A control unit: connected to the first pivot mechanism, the second pivot mechanism, and the first transverse mechanism respectively, the control unit can be used to control the first pivot mechanism and the second pivot mechanism to rotate, and the control unit can be used to control the actuation of the first transverse mechanism to adjust the relative position of the receiving member and the first strip body.

2. The mechanical arm capable of adjusting the receiving position according to claim 1, characterized in that: The robot arm body includes a connecting member and a second transverse movement mechanism directly / indirectly connected to the connecting member by power. The second transverse movement mechanism can drive the connecting member to move forward and backward, and the first pivot mechanism is arranged in the connecting member.

3. The mechanical arm capable of adjusting the receiving position according to claim 1, characterized in that: The robot arm body includes a connecting member and a lifting mechanism directly / indirectly connected to the connecting member by power. The lifting mechanism can drive the connecting member to move vertically, and the first pivoting mechanism is arranged in the connecting member.

4. The mechanical arm capable of adjusting the receiving position according to claim 2 or 3, characterized in that: A first position detector connected to the control unit is further provided. The first position detector can be used to detect the position of the receiving member receiving the object to be received and obtain a position detection result. When the position detection result does not meet the default value, the control unit controls the first transverse movement mechanism to actuate according to the position detection result to adjust the relative position of the receiving member and the first strip body.

5. The mechanical arm capable of adjusting the receiving position according to claim 4, characterized in that: An alarm connected to the control unit is further provided. When two consecutive position detection results do not meet the default value, the control unit controls the first pivot mechanism, the second pivot mechanism, and the first transverse movement mechanism to stop actuating, and controls the alarm to actuate at the same time.

6. The mechanical arm capable of adjusting the receiving position according to claim 5, characterized in that: A level detector connected to the control unit is further provided. The level detector can be used to detect the tilting condition of the receiving member to obtain a level detection result. When the level detection result exceeds a level default value, the control unit controls the alarm to be activated.

7. The mechanical arm capable of adjusting the receiving position according to claim 6, characterized in that: The control unit can be connected to a vibration detection unit, and the vibration detection unit can be used to detect the vibration state of the robotic arm to obtain a vibration detection value. When the vibration detection value exceeds a threshold value, if the receiving member is in a state of receiving the object to be received, the first pivot mechanism, the second pivot mechanism, and the first transverse movement mechanism are first controlled to operate, so that after the object to be received is placed, the first pivot mechanism, the second pivot mechanism, and the first transverse movement mechanism are controlled to stop operating; if the receiving member is in a state of not receiving the object to be received, the first pivot mechanism, the second pivot mechanism, and the first transverse movement mechanism are controlled to stop operating.

8. The mechanical arm capable of adjusting the receiving position according to claim 7, characterized in that: A second position detection unit connected to the control unit is further provided. The second position detection unit can be used to detect the relative position of the receiving unit and the object to be received, and obtain a relative position detection result. The control unit can be used to determine the rotation amount of the connecting rod according to the relative position detection result, and control the actuation of the first pivot mechanism according to the rotation amount.

9. The mechanical arm capable of adjusting the receiving position according to claim 8, characterized in that: The receiving member can be selected from one of the following groups: a plurality of tooth forks, a plate body, and a fork body.

10. The mechanical arm capable of adjusting the receiving position according to claim 9, characterized in that: The top surface of the receiving member is provided with an anti-slip unit.

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