Foldable sleeve arm type operation manipulator

Abstract

The invention discloses a foldable sleeve arm type operation manipulator, which relates to the technical field of manipulators, and comprises a base, a joint part, a sleeve arm part and an actuator, and further comprises an expansion part, the sleeve arm part is arranged at the output end of the joint part and comprises an outer arm body, an inner arm body and a transmission shaft body, the extension part comprises an extension arm, a counterbore and a fastening screw; according to the foldable sleeve arm type operation mechanical arm, the sleeve arm part is of a three-axis collinear sleeve structure, transmission gears are coaxial, meshing planes are vertically parallel, non-unbalance-loading transmission is achieved through a short transmission chain, the rotation positioning precision of the inner arm and the outer arm is improved, and the precise operation requirement is met; an extension arm of the extension part is matched with a corresponding body and can be adjusted in a sliding mode, limiting is achieved through a counterbore and a fastening screw, the length of a sleeve arm is flexibly adjusted, overall folding and storage are facilitated, the sleeve arm part can independently achieve actuator displacement adjustment and single-degree-of-freedom power output, mutual non-interference of actions is achieved, and the operation flexibility and efficiency are improved.

Description

Technical Field

[0001] This invention relates to the field of robotic arm technology, and more specifically to a foldable telescopic robotic arm. Background Technology

[0002] In the field of industrial automation production, robotic arms are widely used as core operating equipment in precision rotary operations such as parts docking, hole assembly, and circular station loading. The industry's requirements for the rotational positioning accuracy, operational flexibility, spatial adaptability, and foldable storage of robotic arms are increasing day by day.

[0003] Currently, existing telescopic robotic arms still have the following technical shortcomings:

[0004] In some telescopic robotic arms, the inner and outer arms are not collinear with the drive shaft. When combined with gear transmission, the meshing process is prone to off-center loading, which leads to eccentric deviation in rotational positioning, insufficient repeatability, and difficulty in meeting the needs of precision operations.

[0005] Some robotic arms use a telescopic arm structure, but the working length cannot be flexibly adjusted, making it difficult to adapt to the working needs of different working distances and spatial paths. They also lack a reasonable folding and storage design, occupy a lot of space when idle, and are inconvenient to transport and store.

[0006] Most telescopic robotic arms use a coupled design for actuator displacement adjustment and power output, which causes interference between the two actions, reducing operational flexibility and efficiency.

[0007] To solve the above problems, there is an urgent need for a telescopic robotic arm with high coaxiality, no off-center load in transmission, and the ability to flexibly adjust its length and fold for storage. Summary of the Invention

[0008] The purpose of this invention is to provide a foldable telescopic robotic arm to solve the problems of insufficient coaxiality, uneven transmission load, non-adjustable length, and poor folding and storage in the prior art.

[0009] To achieve the above objectives, the present invention provides the following technical solution: a foldable telescopic arm robotic arm, comprising a base, a joint, a telescopic arm, and an actuator, and further comprising an extension portion;

[0010] The sleeve arm portion is disposed at the output end of the joint portion. The sleeve arm portion includes an outer arm body, an inner arm body, and a drive shaft body arranged coaxially. It also includes...

[0011] An outer arm motor, an inner arm motor, and a transmission motor respectively adapted to the outer arm body, the inner arm body, and the transmission shaft body;

[0012] The extension part includes an extension arm, which is slidably adapted to the outer arm body, the inner arm body, and the drive shaft body respectively. Each of the extension arms is provided with a through countersunk hole, and a fastening screw is provided in the countersunk hole.

[0013] Furthermore, the joint portion includes a lumbar joint, an upper arm body, and a shoulder joint;

[0014] The waist joint is disposed on the base, the upper arm body is rotatably disposed on the waist joint, and the shoulder joint is rotatably disposed at the end of the upper arm body away from the waist joint;

[0015] The connection between the upper arm body and the waist joint is provided with an upper arm motor and a shoulder joint motor. The output end of the shoulder joint motor is transmitted to the shoulder joint through a first connecting rod, a connecting arm, and a second connecting rod.

[0016] The base is equipped with a waist motor that engages with the waist joint for transmission.

[0017] Furthermore, the first link, the connecting arm, the second link, and the main arm body form a swingable parallelogram linkage mechanism.

[0018] Furthermore, the output gears of the outer arm motor, the inner arm motor, and the transmission motor are a first output gear, a second output gear, and a third output gear, and the corresponding transmission gears are a first transmission gear, a second transmission gear, and a third transmission gear;

[0019] The first transmission gear is mounted on the outer arm body, the second transmission gear is mounted on the inner arm body, and the third transmission gear is mounted on the transmission shaft body.

[0020] Furthermore, the first output gear, the second output gear, and the third output gear of the sleeve arm are collinear.

[0021] Furthermore, the extension arm is slidably fitted inside the outer arm body, inside the inner arm body, and slidably fitted onto the outside of the drive shaft body.

[0022] Furthermore, the ends of the outer arm body and the inner arm body away from the joint are fixedly connected to the actuator, and the end of the drive shaft body away from the joint is drively connected to the actuator's execution unit.

[0023] Furthermore, the outer arm body, the inner arm body, and the actuator are fixedly connected, and the transmission shaft body is driven by the actuator's execution unit via a key.

[0024] Furthermore, the fastening screw passes through the countersunk hole and extends to the side wall of the corresponding outer arm body, inner arm body, or drive shaft body.

[0025] Furthermore, the meshing transmission planes of the first output gear, the second output gear, and the third output gear are vertically parallel.

[0026] Compared with the prior art, the present invention provides a foldable sleeve-type robotic arm. The sleeve arm adopts a three-axis collinear sleeve structure, the transmission gears are coaxial and the meshing plane is vertically parallel, and the short transmission chain realizes the transmission without off-center load, improves the rotation and positioning accuracy of the inner and outer arms, and meets the needs of precision operation.

[0027] The extension arm of the extension section is compatible with the corresponding body and can be slidably adjusted. The length of the arm can be flexibly adjusted through countersunk holes and fastening screws. When folded, it remains compact and is easy to fold and store as a whole. The arm section can independently realize actuator displacement adjustment and single-degree-of-freedom power output. The actions do not interfere with each other, improving the flexibility and efficiency of operation. Attached Figure Description

[0028] To more clearly illustrate the technical solutions in the embodiments of this application or the prior art, the drawings used in the embodiments will be briefly introduced below. Obviously, the drawings described below are only some embodiments recorded in this invention. For those skilled in the art, other drawings can be obtained based on these drawings.

[0029] Figure 1 A schematic diagram of the hidden arm portion of the robotic arm provided in an embodiment of the present invention. Figure 1 ;

[0030] Figure 2 A schematic diagram of the hidden arm portion of the robotic arm provided in an embodiment of the present invention. Figure 2 ;

[0031] Figure 3 A schematic diagram of the hidden arm portion of the robotic arm provided in an embodiment of the present invention. Figure 3 ;

[0032] Figure 4 This is a partial enlarged view of the sleeve arm portion provided in an embodiment of the present invention;

[0033] Figure 5 Schematic diagram of the extension section provided in the embodiment of the present invention Figure 1 ;

[0034] Figure 6 Schematic diagram of the extension section provided in the embodiment of the present invention Figure 2 .

[0035] Explanation of reference numerals in the attached figures:

[0036] 100. Base; 200. Joint; 201. Waist joint; 201-1. Waist motor; 202. Upper arm body; 202-1. Upper arm motor; 203. Shoulder joint motor; 204. First link; 205. Connecting arm; 206. Second link; 300. Arm sleeve; 301. Shoulder joint; 302. Outer arm body; 302-1. Outer arm motor; 302-1a. First output gear; 302-2. First transmission gear; 303. Inner arm body; 303-1. Inner arm motor; 303-1a. Second output gear; 303-2. Second transmission gear; 304. Drive shaft body; 304-1. Drive motor; 304-1a. Third output gear; 304-2. Third transmission gear; 305. Extension arm; 305a. Countersunk hole; 305b. Fastening screw; 400. Actuator. Detailed Implementation

[0037] To enable those skilled in the art to better understand the technical solution of the present invention, the present invention will be further described in detail below with reference to the accompanying drawings.

[0038] As attached Figure 1 To be continued Figure 6 As shown, as an embodiment of the present invention, a foldable telescopic robotic arm is provided, which includes a base 100, a joint 200, a telescopic arm 300, and an actuator 400.

[0039] The base 100 and the actuator 400 are connected by a joint 200 and a sleeve arm 300. The base 100 is used to assemble the robot arm in the working position, the joint 200 provides the robot arm with swing and rotation degrees of freedom, and the sleeve arm 300 is used to achieve high-precision angular positioning between the joint 200 and the actuator 400.

[0040] Regarding joint 200, including,

[0041] A lumbar joint 201 is mounted on a base 100;

[0042] The base 100 is equipped with a waist motor 201-1 that drives the waist joint 201, which is used to realize the horizontal rotation of the waist joint 201 relative to the base 100.

[0043] The upper arm body 202 is rotatably mounted on the waist joint 201;

[0044] The upper arm motor 202-1 is located at the connection between the upper arm body 202 and the waist joint 201;

[0045] The shoulder joint 301 is rotatably located at the end of the upper arm body 202 away from the waist joint 201;

[0046] The shoulder joint motor 203 is located at the connection between the upper arm body 202 and the waist joint 201;

[0047] The output end of the shoulder joint motor 203 is transmitted to the shoulder joint 301 through the first connecting rod 204, the connecting arm 205, and the second connecting rod 206;

[0048] Among them, the first link 204, the connecting arm 205, the second link 206 and the upper arm body 202 form a parallelogram that can swing, thereby realizing the swing of the shoulder joint 301 relative to the upper arm body 202.

[0049] In summary, in this embodiment, the parallelogram linkage mechanism consisting of the waist joint 201, the upper arm body 202, the shoulder joint 301, the connecting arm 205, the first link 204, and the second link 206 cooperates with each other. Through the independent drive of the waist motor 201-1, the upper arm motor 202-1, and the shoulder joint motor 203, the joint part 200 of the working robot has three independent swing degrees of freedom, providing a spatial motion basis for the high-precision angle positioning of the arm part 300 and the working posture adjustment of the actuator 400.

[0050] Regarding the 300mm arm sleeve, including:

[0051] The outer arm body 302, the inner arm body 303, and the drive shaft body 304 are located at the output end of the shoulder joint 301.

[0052] The axes of the outer arm body 302, the inner arm body 303, and the drive shaft body 304 are collinear. The inner arm body 303 is fitted on the outside of the drive shaft body 304, and the outer arm body 302 is fitted on the outside of the inner arm body 303.

[0053] The outer arm body 302, the inner arm body 303, and the drive shaft body 304 are respectively rotatably assembled with the shoulder joint 301;

[0054] The shoulder joint 301 is equipped with an external arm motor 302-1, an internal arm motor 303-1, and a drive motor 304-1, which are adapted to it.

[0055] Regarding the outer arm body 302, the output end of the outer arm motor 302-1 is provided with a first output gear 302-1a, and the shoulder joint 301 is provided with a first transmission gear 302-2 that is adapted to the first output gear 302-1a and is fitted on the outer arm body 302.

[0056] Regarding the inner arm body 303, the output end of the inner arm motor 303-1 is provided with a second output gear 303-1a, and the shoulder joint 301 is provided with a second transmission gear 303-2 that is adapted to the second output gear 303-1a and is fitted on the inner arm body 303.

[0057] Regarding the drive shaft body 304, the output end of the drive motor 304-1 is provided with a third output gear 304-1a, and the shoulder joint 301 is provided with a third drive gear 304-2 that is adapted to the third output gear 304-1a and is fitted on the drive shaft body 304.

[0058] Among them, the first transmission gear 302-2, the second transmission gear 303-2, and the third transmission gear 304-2 are respectively installed on the outer arm body 302, the inner arm body 303, and the transmission shaft body 304. That is, the axes of the first transmission gear 302-2, the second transmission gear 303-2, and the third transmission gear 304-2 are collinear, and the three meshing transmission planes (the meshing transmission plane between the first transmission gear 302-2 and the first output gear 302-1a, the meshing transmission plane between the second transmission gear 303-2 and the second output gear 303-1a, and the meshing transmission plane between the third transmission gear 304-2 and the third output gear 304-1a) are vertically parallel and arranged inside the shoulder joint 301;

[0059] In use, based on the collinear arrangement of the inner arm body 303, outer arm body 302 and transmission shaft body 304, the rotation centers of the inner arm body 303 and outer arm body 302 are completely coincident. With the short transmission chain of the direct gear of the inner arm motor 303-1 and the outer arm motor 302-1, the rotation center offset caused by eccentric transmission is avoided, and the independent rotation positioning repeatability of the inner arm body 303 and outer arm body 302 is high.

[0060] Furthermore, the gear transmission has no off-center load meshing, and the angular velocity and angular displacement control during the rotation of the inner arm body 303 and the outer arm body 302 are precise, enabling high-precision angle fine adjustment of the end effector 400, which is suitable for working conditions that require precise rotation and positioning (such as part angle docking, assembly hole alignment, and circular station rotation loading).

[0061] In practical applications, the control unit receives manually input operation instructions through a human-machine interface terminal (touch screen, industrial computer), and can also be connected to an industrial Ethernet / fieldbus to realize production line linkage control. Based on the mechanical structure of this embodiment and the above program framework, the staff can directly complete the writing, debugging and running of the control program by adjusting conventional parameters such as motor speed, action timing, and angle limit threshold.

[0062] Normal usage status:

[0063] The robotic arm is assembled in the designated working position via the base 100. The waist motor 201-1 drives the waist joint 201 to rotate horizontally relative to the base 100. The upper arm motor 202-1 drives the upper arm body 202 to swing relative to the waist joint 201. The shoulder joint motor 203 drives the shoulder joint 301 to swing relative to the upper arm body 202 through a parallelogram linkage mechanism composed of the first link 204, the connecting arm 205, the second link 206 and the upper arm body 202. The three independent drives enable the joint 200 to form three degrees of freedom of swing, completing the spatial posture adjustment and initial positioning of the robotic arm as a whole.

[0064] The arm unit 300 is driven by the outer arm motor 302-1, the inner arm motor 303-1, and the transmission motor 304-1 to rotate the first output gear 302-1a, the second output gear 303-1a, and the third output gear 304-1a at their respective output ends. This, in turn, drives the first transmission gear 302-2, the second transmission gear 303-2, and the third transmission gear 304-2, which mesh with the arm unit 300 and are respectively mounted on the outer arm body 302, the inner arm body 303, and the transmission shaft body 304, to rotate synchronously. Because the outer arm body 300... 02. The three axes of the inner arm body 303 and the transmission shaft body 304 are collinear and have a sleeve-arm structure. The axes of the three transmission gears are collinear and the meshing transmission planes are arranged in parallel vertically, realizing a short gear transmission chain transmission without off-center load. This drives the inner arm body 303, the outer arm body 302, and the transmission shaft body 304 to perform independent high-precision rotational movements relative to the shoulder joint 301, avoiding eccentric transmission errors. This enables the end effector 400 to achieve high-precision angle fine-tuning and accurate rotational positioning, meeting the posture and position requirements of precision rotational operation conditions.

[0065] As attached Figure 5 To be continued Figure 6 As shown, as another embodiment of the present invention, an extension for the above-described robotic arm is provided, which includes,

[0066] Extension arms 305, three in number, of which,

[0067] One of the extension arms 305 is slidably embedded inside the outer arm body 302, and is adapted to the internal size and shape of the outer arm body 302;

[0068] Secondly, the extension arm 305 is slidably embedded inside the inner arm body 303, and is adapted to the internal size and shape of the inner arm body 303;

[0069] Thirdly, the extension arm 305 is slidably sleeved on the outside of the transmission shaft body 304, and is adapted to the external dimensions and shape of the transmission shaft body 304;

[0070] Each extension arm 305 is provided with a through countersunk hole 305a, and a fastening screw 305b is provided in the countersunk hole 305a.

[0071] During use, the operator can adjust the output length and swing and / or rotation path of the outer arm body 302, inner arm body 303, and drive shaft body 304 through the extension arm 305 to achieve overall length adjustment of the sleeve arm 300. After adjustment, the extension arm 305 and its corresponding outer arm body 302, inner arm body 303, and drive shaft body 304 can be tightened and limited by the fastening screw 305b.

[0072] Normal usage status:

[0073] Three extension arms 305 are pre-slidably fitted and mounted inside the outer arm body 302, the inner arm body 303, and the outer side of the drive shaft body 304, respectively, to match the size and shape of their respective bodies, maintaining the initial compact structure of the arm sleeve 300. Based on the actual working distance and space requirements, the operator pulls or pushes the corresponding extension arm 305 along the axial direction of the outer arm body 302, inner arm body 303, and drive shaft body 304 to adjust the extension length of each extension arm 305, thereby adjusting the overall output length of the arm sleeve 300 and adapting to the swing and rotation working path of the arm sleeve 300. After adjusting each extension arm 305 to the target working position, tighten the fastening screws 305b on each extension arm 305. Utilize the limiting effect of the countersunk holes 305a to make the ends of the fastening screws 305b press against the side walls of the corresponding outer arm body 302, inner arm body 303, and drive shaft body 304. This achieves rigid fastening and limiting between the extension arm 305 and the corresponding body, preventing relative sliding between the extension arm 305 and the body during robot operation. This ensures the working stability of the sleeve arm 300 at the adjusted length, completing the adjustable adaptation of the sleeve arm 300's length to meet the distance and path operation requirements in different working scenarios.

[0074] As attached Figure 1 To be continued Figure 6 As shown, as another embodiment of the present invention, a folding and unfolding method for the above-mentioned robotic arm is provided. Based on the multi-degree-of-freedom swing of the joint 200, the coaxial rotation of the arm 300, and the extension and retraction of the extension portion, the overall folding, storage, and unfolding of the robotic arm is achieved, including the following workflow:

[0075] Unfold the workpiece and rotate the fastening screws 305b of each extension arm 305 in the release direction to release the fastening limit of the extension section. Activate the waist motor 201-1, upper arm motor 202-1, and shoulder joint motor 203 of the joint section 200. This drives the waist joint 201 to rotate horizontally, and the upper arm body 202 and shoulder joint 301 to swing sequentially, adjusting the upper arm body 202, shoulder joint 301, and sleeve arm section 300 from the folded position to the preset unfolded posture. Activate the outer arm motor 302-1, inner arm motor 303-1, and drive motor 304-1 to drive... The outer arm body 302, inner arm body 303, and drive shaft body 304 are rotated and reset to the initial alignment state with the axes collinear. Each extension arm 305 is pulled or pushed along the axis to the target extension length. The length of the extension is locked by tightening the fastening screw 305b. The outer arm motor 302-1, inner arm motor 303-1, and drive motor 304-1 of the arm sleeve 300 are driven independently to achieve high-precision rotation of the outer arm body 302 and inner arm body 303. With the attitude adjustment of the joint 200, the actuator 400 is accurately positioned and the operation can begin.

[0076] For folding operations, start the outer arm motor 302-1, inner arm motor 303-1, and drive motor 304-1 of the arm extension 300 to drive the outer arm body 302, inner arm body 303, and drive shaft body 304 to rotate and reset to a collinear state. Then loosen all fastening screws 305b and push each extension arm 305 completely into the corresponding outer arm body 302, inner arm body 303, and drive shaft body 304 to restore the compact structure of the arm extension 300 and rotate the fastening screws. Once nail 305b completes its limit position, the waist motor 201-1, upper arm motor 202-1, and shoulder joint motor 203 are activated to rotate in the opposite direction, driving the shoulder joint 301 and upper arm body 202 to retract and swing in sequence. At the same time, the waist joint 201 rotates horizontally, bringing the upper arm body 202, shoulder joint 301, and arm sleeve 300 together to a compact folding position close to the base 100. After confirming that there is no interference between the components, the joint 200 is locked, completing the overall folding and storage of the robotic arm.

[0077] As attached Figure 1 To be continued Figure 6 As shown, in another embodiment of the present invention, a power output method for the actuator 400 of the sleeve arm 300 included in the above-mentioned robotic arm is provided. In this embodiment, the inner arm body 303 and the outer arm body 302 are used to drive the actuator 400 to move, and the transmission shaft body 304 is used to provide a power output for the actuator 400 to provide one degree of freedom.

[0078] The inner arm body 303, outer arm body 302, and drive shaft body 304 of the arm sleeve 300 are all assembled with the corresponding end of the actuator 301. The inner arm body 303 and outer arm body 302 are fixedly connected to the mounting base 100 of the actuator 400 through a flange structure, serving as displacement bearing components of the actuator 400. Relying on the independent drive of the outer arm motor 302-1 and the inner arm motor 303-1 at the shoulder joint 301, the inner arm body 303 and outer arm body 302 are driven by the meshing transmission of the first output gear 302-1a and the first transmission gear 302-2, and the second output gear 303-1a and the second transmission gear 303-2, respectively. This drives the inner arm body 303 and outer arm body 302 to perform high-precision independent rotation relative to the shoulder joint 301, thereby synchronously driving the actuator 400 to perform circumferential displacement adjustment along the collinear axis. Combined with the spatial posture adjustment of the joint 200, the actuator 400 can be adapted to multiple positions in the working space.

[0079] The drive shaft body 304 serves as the core component for power output. Its end is connected to the actuator unit (such as a gripper, rotary grinding head, or precision positioning table) of the actuator 400 via a key connection, spline fit, or coupling, providing the actuator unit with an independent degree of power output.

[0080] Specifically, the transmission motor 304-1 drives the third output gear 304-1a to rotate, which in turn drives the third transmission gear 304-2 mounted on the transmission shaft body 304 to rotate synchronously, thereby driving the transmission shaft body 304 to rotate around its own axis, transmitting torque to the execution unit, and realizing the operation of the execution unit.

[0081] Compared with the prior art, the present invention has the following characteristics:

[0082] The sleeve arm 300 adopts a sleeve structure in which the outer arm body 302, inner arm body 303, and transmission shaft body 304 are aligned with the same axis. The transmission gears that are adapted to it are arranged coaxially and the meshing transmission plane is vertically parallel. Combined with the short transmission chain design of the motor direct-drive gear, it realizes gear meshing transmission without off-center load, avoids rotational deviation caused by eccentric transmission, improves the repeatability accuracy of independent rotation positioning of inner and outer arm bodies 302, and can complete the precise angle fine adjustment of actuator 400, adapting to the needs of precision rotation operation.

[0083] The three extension arms 305 of the extension section are precisely matched with the outer arm body 302, the inner arm body 303, and the drive shaft body 304 and can be slidably adjusted along the axis. The countersunk holes 305a and fastening screws 305b can achieve rigid fastening and limiting between the extension arms 305 and the corresponding bodies, realize flexible adjustment of the overall output length of the sleeve arm 300, adapt to different working distances and spatial path requirements, and maintain the compact structure of the sleeve arm 300 after the extension arms 305 are retracted, which is convenient for the robot to be folded and stored as a whole.

[0084] The arm 300 enables the actuator 400 to adjust its displacement and output power with a single degree of freedom. The inner and outer arm bodies 302 serve as displacement bearing components to drive the actuator 400 to adjust its displacement. The transmission shaft body 304 transmits torque to the actuator 400's execution unit and provides power output with an independent degree of freedom. The output actions do not interfere with each other, improving the robot's operational flexibility and efficiency.

[0085] The foregoing has only described certain exemplary embodiments of the present invention by way of illustration. Undoubtedly, those skilled in the art can modify the described embodiments in various ways without departing from the spirit and scope of the present invention. Therefore, the foregoing drawings and descriptions are illustrative in nature and should not be construed as limiting the scope of protection of the claims of the present invention.

Claims

1. A foldable telescopic robotic arm, characterized in that, It includes a base (100), a joint (200), a sleeve arm (300), and an actuator (400), and also includes an extension part; The sleeve arm portion (300) is disposed at the output end of the joint portion (200). The sleeve arm portion (300) includes an outer arm body (302) and an inner arm body (303) arranged with their axes collinear, and also includes, The outer arm motor (302-1), inner arm motor (303-1), and drive motor (304-1) are respectively adapted to the outer arm body (302), the inner arm body (303), and the drive shaft body (304); The extension part includes an extension arm (305), which is slidably adapted to the outer arm body (302), the inner arm body (303), and the drive shaft body (304). Each of the extension arms (305) is provided with a through countersunk hole (305a), and a fastening screw (305b) is provided in the countersunk hole (305a).

2. The foldable telescopic robotic arm according to claim 1, characterized in that, The joint (200) includes a lumbar joint (201), an upper arm body (202), and a shoulder joint (301). The lumbar joint (201) is disposed on the base (100), the upper arm body (202) is rotatably disposed on the lumbar joint (201), and the shoulder joint (301) is rotatably disposed at the end of the upper arm body (202) away from the lumbar joint (201); The upper arm body (202) and the waist joint (201) are connected by an upper arm motor (202-1) and a shoulder joint motor (203). The output end of the shoulder joint motor (203) is transmitted to the shoulder joint (301) through a first connecting rod (204), a connecting arm (205), and a second connecting rod (206). The base (100) is equipped with a waist motor (201-1) that is in transmission cooperation with the waist joint (201).

3. A foldable telescopic robotic arm according to claim 2, characterized in that, The first link (204), the connecting arm (205), the second link (206), and the upper arm body (202) form a swingable parallelogram linkage mechanism.

4. A foldable telescopic robotic arm according to claim 1, characterized in that, The output gears of the outer arm motor (302-1), the inner arm motor (303-1), and the transmission motor (304-1) are the first output gear (302-1a), the second output gear (303-1a), and the third output gear (304-1a), and the corresponding transmission gears are the first transmission gear (302-2), the second transmission gear (303-2), and the third transmission gear (304-2). The first transmission gear (302-2) is mounted on the outer arm body (302), the second transmission gear (303-2) is mounted on the inner arm body (303), and the third transmission gear (304-2) is mounted on the transmission shaft body (304).

5. A foldable telescopic robotic arm according to claim 4, characterized in that, The first output gear (302-1a), the second output gear (303-1a), and the third output gear (304-1a) of the sleeve arm (300) are collinear.

6. A foldable telescopic robotic arm according to claim 1, characterized in that, The extension arm (305) is slidably fitted inside the outer arm body (302), inside the inner arm body (303), and slidably fitted on the outside of the drive shaft body (304).

7. A foldable telescopic robotic arm according to claim 1, characterized in that, The ends of the outer arm body (302) and the inner arm body (303) away from the joint (200) are fixedly connected to the actuator (400), and the end of the transmission shaft body (304) away from the joint (200) is connected to the actuator (400) in a transmission connection.

8. A foldable telescopic robotic arm according to claim 7, characterized in that, The outer arm body (302), the inner arm body (303), and the actuator (400) are fixedly connected, and the transmission shaft body (304) is driven by the actuator (400) through a key.

9. A foldable telescopic robotic arm according to claim 1, characterized in that, The fastening screw (305b) passes through the countersunk hole (305a) and extends to the side wall of the corresponding outer arm body (302), inner arm body (303), or drive shaft body (304).

10. A foldable telescopic robotic arm according to claim 5, characterized in that, The meshing transmission planes of the first output gear (302-1a), the second output gear (303-1a), and the third output gear (304-1a) are vertically parallel.

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