A foldable robotic arm

Abstract

This invention relates to the field of robotic arm technology and discloses a foldable robotic arm, including a first mounting frame, a second mounting frame, a servo motor mounted on one end of the first mounting frame, a folding support mechanism, and a hydraulic locking mechanism. Its structure includes a hollow shell fixedly mounted on one end of the second mounting frame and having a hollow internal structure; a piston plate placed inside the hollow shell and capable of directional movement under liquid pressure; and a second locking plate that moves with the piston plate and engages with the first locking plate to lock it in place. This foldable robotic arm can achieve a 360-degree rotation, thus achieving a fully overlapping folding effect, reducing the space occupied when the equipment is not in use. Furthermore, the device can angle-lock the main support arm and the auxiliary support arm used for load-bearing, reducing the torsional pressure on the drive structure after the support arm stops moving, thereby improving the stability of the equipment during operation.

Description

Technical Field

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

[0002] A robotic arm is a complex system characterized by high precision, multiple inputs and outputs, high nonlinearity, and strong coupling. Due to its unique operational flexibility, it has been widely used in industrial assembly, safety and explosion-proof fields, and other areas. As a complex system, a robotic arm exhibits uncertainties such as parameter perturbations, external interference, and unmodeled dynamics. Therefore, the modeling of a robotic arm also contains uncertainties. For different tasks, it is necessary to plan the motion trajectory of the robotic arm's joints to cascade and form the end effector pose. Currently, existing robotic arm steel frame structures, designed to meet the functions of extension, rotation, and lifting, are complex and bulky. This not only increases the space occupied by the robotic arm but also increases the stress on various functional components or connections during extension, rotation, or lifting. Over long-term use, this can reduce the strength of the robotic arm and affect its normal operation.

[0003] To this end, Chinese Patent Publication No. CN111843990B discloses "A Foldable Robotic Arm Steel Frame Structure," whose main structure includes a main support rod and a secondary support rod. Both the main and secondary support rods are rectangular columnar structures, and their connecting ends are provided with shaft holes. A fixed shaft is located inside the shaft hole, and the main and secondary support rods are sleeved onto the surface of the fixed shaft through the shaft hole. This foldable robotic arm steel frame structure forms a rotatable and foldable steel frame structure by setting the main support rod, secondary support rod, fixed shaft, and connector. It uses less material, facilitating lightweight assembly. Furthermore, the first and second adjusting rods between the main support rods rotate relative to each other, and the distance between the main support rods can be adjusted by sliding a slider on the surface of the sliding rod, thereby adjusting the force-bearing area and increasing the load capacity. When not in use, it can be retracted using the first and second adjusting rods, thus greatly reducing the space occupied.

[0004] In actual use, when the main support rod and the auxiliary support rod bend at different angles around the center line of the rotating shaft, according to the lever principle, the motor or equipment driving their rotation needs to bear a large compressive strength (this conclusion can be drawn from the lever principle). When they are gripping or bearing lifting work, the pressure borne by the motor and equipment will further increase, which can easily lead to damage to the equipment due to pressure overload. Summary of the Invention

[0005] To address the shortcomings of existing technologies, this invention provides a foldable robotic arm capable of 360-degree rotation, achieving a fully overlapping folded state to reduce the space occupied by the device when not in use. Furthermore, the device can lock the angles of the main and auxiliary robotic arms used for load-bearing, reducing the torsional pressure on the drive structure after the robotic arm stops moving, thereby improving the stability of the device during operation and solving the aforementioned technical problems.

[0006] To achieve the above objectives, the present invention provides the following technical solution: a foldable robotic arm, comprising a first mounting frame and a second mounting frame, and a servo motor mounted on one end of the first mounting frame, and a foldable support mechanism, the structure of which includes a main support arm fixedly connected to the first mounting frame and the second mounting frame, a secondary support arm mounted on one end of the main support arm by a pin and capable of rotation, and a first locking plate mounted on one side of the rotation direction of the main support arm and the secondary support arm and capable of rotating with the secondary support arm; and a hydraulic locking mechanism, the structure of which includes a hollow shell fixedly mounted on one end of the second mounting frame and having a hollow internal structure, a piston plate placed inside the hollow shell and capable of directional movement under liquid pressure, and a second locking plate capable of moving with the piston plate and generating a locking effect against the first locking plate.

[0007] Preferably, the folding support mechanism further includes a main mounting plate disposed at one end of the main support arm and a secondary mounting plate disposed at one end of the secondary support arm. The other end of the main support arm is equipped with a rotatable central shaft via a bearing. One end of the central shaft is fixedly fitted with a locking plate. The other end of the secondary support arm is provided with a shaft hole fixedly installed at the shaft body of the central shaft.

[0008] Preferably, during operation, the main mounting plate is fixedly connected to the drive structure for driving the movement of the robotic arm, and the secondary mounting plate is fixedly connected to the robotic gripper.

[0009] Preferably, there is a device accommodating space at the center of the main support arm, and the device accommodating space is sufficient to completely accommodate the secondary support arm.

[0010] Preferably, the hydraulic locking mechanism further includes a piston chamber disposed inside the hollow housing. The hollow housing is fixedly installed at one end of the second mounting bracket. One end of the piston chamber is provided with a limiting flow cavity, and the other end of the piston chamber is provided with a first shaft through hole. One end of the limiting flow cavity is provided with a hydraulic docking channel. A piston plate capable of moving along its axial direction is placed inside the piston chamber. A horizontal movable rod passing through the first shaft through hole is installed at the end of the piston plate facing the first shaft through hole. A second helical spring in a compressed state is sleeved around the rod body located inside the piston chamber. A second locking plate is fixedly installed at the end of the horizontal movable rod, and the second locking plate corresponds to the first locking plate.

[0011] Preferably, during operation, the hydraulic docking channel is connected to the liquid circuit of a hydraulic system capable of controlling the direction and pressure of liquid flow.

[0012] Preferably, it also includes a pressure-controlled linkage mechanism, which has an inner rotating column that rotates with the rotor of the servo motor, a hollow disc that can drive the central rotating shaft to rotate, and an arc-shaped contact plate that can link the hollow disc and the inner rotating column by means of friction.

[0013] Preferably, the pressure-controlled linkage mechanism further includes a hollow disc and an inner rotating column. The upper surface of the hollow disc is provided with a first shaft fixing groove for fixing the central rotating shaft. A cylindrical component mounting cavity is provided at the center of the hollow disc. A shaft mounting hole is provided at the center of the bottom end of the hollow disc. A rotatable linkage shaft is mounted inside the shaft mounting hole via a bearing. The bottom end of the linkage shaft is fixedly connected to the rotating end of a servo motor. An inner rotating column is placed at the center of the cylindrical component mounting cavity. A second shaft fixing groove for fixing the linkage shaft is provided at the center of the bottom of the inner rotating column. The hollow disc... Multiple annular array-shaped transverse component movable cavities are arranged around the periphery of the cylindrical component mounting cavity. The transverse component movable cavities and the circumferential side surfaces of the cylindrical component mounting cavity are connected by a second shaft through a hole. The hollow disc has an inner movable plate inside the cylindrical component mounting cavity that can move along the axial direction of the cylindrical component mounting cavity. A first helical spring is installed at one end of the inner movable plate, and a connecting shaft passing through the second shaft through a hole is fixedly installed at the other end of the inner movable plate. An arc-shaped abutment plate that abuts against the circumferential surface of the inner rotating column is fixedly installed at one end of the connecting shaft inside the cylindrical component mounting cavity.

[0014] Preferably, one end of the first helical spring abuts against one end face of the inner movable plate, and the other end abuts against one end face of the movable cavity of the transverse component, and the first helical spring is in a compressed state.

[0015] Preferably, the structural radius of the concave surface of the arc-shaped contact plate matches the structural radius of the inner rotating column.

[0016] Compared with the prior art, the present invention provides a foldable robotic arm with the following advantages: It can achieve a 360-degree rotation effect, thereby achieving a folding effect in a fully overlapping state, reducing the space occupied by the equipment when not in use. In addition, the device can lock the angle of the main support arm and the auxiliary support arm used for load bearing, thereby reducing the torsional pressure that the drive structure needs to bear after the support arm stops moving, thus improving the stability of the equipment during operation. Attached Figure Description

[0017] Figure 1 This is a perspective view of the present invention; Figure 2 This is a three-dimensional cross-sectional view of the present invention; Figure 3 This is a perspective view of the folding support mechanism in this invention; Figure 4 This is a three-dimensional cross-sectional view of the folding support mechanism in this invention; Figure 5 This is a perspective view of the hydraulic locking mechanism in this invention; Figure 6 This is a three-dimensional cross-sectional view of the hydraulic locking mechanism in this invention; Figure 7 This is a three-dimensional cross-sectional view of the pressure-controlled linkage mechanism in this invention from a first perspective. Figure 8 This is a three-dimensional cross-sectional view of the pressure-controlled linkage mechanism in this invention from a second perspective.

[0018] The components include: 1. Mounting bracket No. 1; 2. Mounting bracket No. 2; 3. Servo motor; 4. Folding support mechanism; 41. Main support arm; 42. Main mounting plate; 43. Central rotating shaft; 44. Locking plate No. 1; 45. Secondary support arm; 46. Shaft hole; 47. Secondary mounting plate; 5. Hydraulic locking mechanism; 51. Hollow housing; 52. Piston chamber; 53. Limiting flow chamber; 54. Hydraulic docking channel; 55. Through hole for shaft No. 1; 56. Piston plate; 5 7. Horizontal movable rod; 58. No. 2 helical spring; 59. No. 2 locking plate; 6. Pressure-controlled linkage mechanism; 61. Hollow disc; 62. No. 1 shaft fixing groove; 63. Columnar component mounting cavity; 64. Shaft mounting hole; 65. Transverse component movable cavity; 66. No. 2 shaft through hole; 67. Inner movable plate; 68. No. 1 helical spring; 69. Arc-shaped abutment plate; 610. Inner rotating column; 611. No. 2 shaft fixing groove; 612. Linkage shaft. Detailed Implementation

[0019] The technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0020] Please see Figure 1 and Figure 2 A foldable robotic arm includes a first mounting frame 1 and a second mounting frame 2, and a servo motor 3 mounted on one end of the first mounting frame 1. The main mounting plate 42 is fixedly connected to a drive structure for driving the movement of the robotic arm. Then, the secondary mounting plate 47 is fixedly connected to a robotic claw. Finally, the hydraulic docking channel 54 is connected to the liquid circuit of a hydraulic system that can control the direction and pressure of liquid flow.

[0021] To achieve foldable and bendable functionality, please refer to [link / reference]. Figure 1 , Figure 2 , Figure 3 and Figure 4 A folding support mechanism 4 needs to be set up. Its structure includes a main support arm 41 fixedly connected to the first mounting bracket 1 and the second mounting bracket 2, a secondary support arm 45 mounted on one end of the main support arm 41 by a pin and capable of rotation, and a first locking plate 44 mounted on one side of the rotation direction of the main support arm 41 and the secondary support arm 45 and capable of rotating with the secondary support arm 45. By controlling the drive structure that drives the movement of the robotic arm, the turning angle of the main support arm 41 and the secondary support arm 45 can be controlled. Then, by controlling the rotation angle of the servo motor 3, the angle of movement between the main support arm 41 and the secondary support arm 45 can be controlled, thereby realizing the functions of folding and bending.

[0022] For details regarding the specific structure of the foldable support mechanism 4, please refer to [link / reference]. Figure 3 and Figure 4 It also includes a main mounting plate 42 disposed at one end of the main support arm 41 and a secondary mounting plate 47 disposed at one end of the secondary support arm 45. The other end of the main support arm 41 is equipped with a rotatable central shaft 43 via a bearing. One end of the central shaft 43 is fixedly fitted with a locking plate 44. The other end of the secondary support arm 45 has a shaft hole 46 fixedly installed at the shaft body of the central shaft 43. During operation, the main mounting plate 42 is fixedly connected to the drive structure for driving the movement of the robotic arm, and the secondary mounting plate 47 is fixedly connected to the robotic gripper. There is a device accommodating space at the center of the main support arm 41, and this device accommodating space is sufficient to completely accommodate the secondary support arm 45. To achieve angle locking of the main support arm 41 and the auxiliary support arm 45, thereby improving the equipment's torsional resistance in a suspended state, please refer to [link to relevant documentation]. Figure 1 , Figure 2 , Figure 5 and Figure 6 A hydraulic locking mechanism 5 needs to be installed. Its structure includes a hollow shell 51 fixedly installed at one end of the second mounting bracket 2, a piston plate 56 placed inside the hollow shell 51 and capable of directional movement under hydraulic pressure, and a second locking plate 59 that moves with the piston plate 56 and engages with the first locking plate 44 to lock it. When the servo motor 3 is started, the hydraulic system needs to be shut off. At this time, under the elastic action of the second helical spring 58, the first locking plate 44 and the second locking plate 59 tend to move away from each other, and the force between them on the contact surface is zero. At this time, the servo motor 3 can then... The main support arm 41 and the auxiliary support arm 45 are rotated to achieve angle adjustment. When the angle adjustment is completed and the main support arm 41 and the auxiliary support arm 45 need to be kept in a fixed position, the hydraulic system can be started. Under liquid pressure, the second helical spring 58 will be compressed and the second locking plate 59 will abut against one end of the first locking plate 44 until the friction between the first locking plate 44 and the second locking plate 59 is sufficient to ensure that the main support arm 41 and the auxiliary support arm 45 remain stable, thereby achieving angle locking of the main support arm 41 and the auxiliary support arm 45, and thus improving the anti-torsion ability of the equipment in the paused state.

[0023] For details regarding the specific structure of the hydraulic locking mechanism 5, please refer to [link / reference needed]. Figure 5 and Figure 6 It also includes a piston chamber 52 disposed inside the hollow housing 51. The hollow housing 51 is fixedly installed at one end of the second mounting bracket 2. One end of the piston chamber 52 is provided with a limiting flow cavity 53, and the other end of the piston chamber 52 is provided with a first shaft through hole 55. One end of the limiting flow cavity 53 is provided with a hydraulic docking channel 54. A piston plate 56 capable of moving along its axial direction is placed inside the piston chamber 52. A horizontal movable rod 57 passing through the first shaft through hole 55 is installed on the end of the piston plate 56 facing the first shaft through hole 55. A second helical spring 58 in a compressed state is sleeved around the rod body located inside the piston chamber 52 on the horizontal movable rod 57. A second locking plate 59 is fixedly installed at the end of the horizontal movable rod 57, and the second locking plate 59 corresponds to the first locking plate 44. During operation, the hydraulic docking channel 54 is connected to the liquid circuit of a hydraulic system capable of controlling the direction and pressure of liquid flow.

[0024] To prevent damage to the servo motor 3 due to excessive weight of the object being grasped, please refer to [link / reference needed]. Figure 1 , Figure 2 , Figure 7 and Figure 8A pressure-controlled linkage mechanism 6 needs to be set up. Inside, there is an inner rotating column 610 that rotates with the rotor of the servo motor 3, a hollow disk 61 that can drive the central rotating shaft 43 to rotate, and an arc-shaped contact plate 69 that can link the hollow disk 61 and the inner rotating column 610 by friction. When the object grasped by the mechanical claw is too heavy, the continued rotation of the servo motor 3 will cause the torque to increase. When the torque is greater than the maximum static friction force formed by the first helical spring 68, the inner rotating column 610 and the arc-shaped contact plate 69 will rotate relative to each other. At this time, the rotor of the servo motor 3 can rotate normally, while the central rotating shaft 43 will not continue to move, thereby preventing the object grasped from being too heavy and causing damage to the servo motor 3.

[0025] For the specific structure of the pressure-controlled linkage mechanism 6, please refer to [link / reference]. Figure 7 and Figure 8 It also includes a hollow disc 61 and an inner rotating column 610. The upper end surface of the hollow disc 61 is provided with a first shaft fixing groove 62 for fixing the central rotating shaft 43. The center of the hollow disc 61 is provided with a cylindrical component mounting cavity 63. The center of the bottom end of the hollow disc 61 is provided with a shaft mounting hole 64. A rotatable linkage shaft 612 is installed inside the shaft mounting hole 64 through a bearing. The bottom end of the linkage shaft 612 is fixedly connected to the rotating end of the servo motor 3. The center of the cylindrical component mounting cavity 63 is where the inner rotating column 610 is placed. The center of the bottom of the inner rotating column 610 is provided with a second shaft fixing groove 611 for fixing the linkage shaft 612. The hollow disc 61 is provided with a plurality of annular array-shaped transverse component movable cavities 65 around the cylindrical component mounting cavity 63. The transverse component movable cavities 65 and the cylindrical component The circumferential sides of the mounting cavity 63 are connected by a second shaft through hole 66. The hollow disc 61 has an inner movable plate 67 inside the cylindrical component mounting cavity 63, which can move along the axial direction of the cylindrical component mounting cavity 63. A first helical spring 68 is installed at one end of the inner movable plate 67, and a connecting shaft passing through the second shaft through hole 66 is fixedly installed at the other end of the inner movable plate 67. An arc-shaped abutting plate 69 that abuts against the circumferential surface of the inner rotating column 610 is fixedly installed at one end of the connecting shaft inside the cylindrical component mounting cavity 63. One end of the first helical spring 68 abuts against one end face of the inner movable plate 67, and the other end abuts against one end face of the transverse component movable cavity 65. The first helical spring 68 is in a compressed state. The structural radius of the concave surface of the arc-shaped abutting plate 69 matches the structural radius of the inner rotating column 610.

[0026] In use, the main mounting plate 42 is fixedly connected to the drive structure for driving the robotic arm, and then the auxiliary mounting plate 47 is fixedly connected to the robotic gripper. Finally, the hydraulic docking channel 54 is connected to the liquid circuit of a hydraulic system that can control the direction and pressure of liquid flow. By controlling the drive structure that drives the robotic arm, the turning angle of the main support arm 41 and the auxiliary support arm 45 can be controlled. Then, by controlling the rotation angle of the servo motor 3, the angle of movement between the main support arm 41 and the auxiliary support arm 45 can be controlled. When starting the servo motor 3, the hydraulic system needs to be shut down. At this time, under the elastic action of the second helical spring 58, the first locking plate 44 and the second locking plate 59 tend to move away from each other, and the force between them on the contact surface is zero. At this time, the servo motor 3 can normally drive the central rotating shaft 43 and the auxiliary support arm 45 to rotate, thereby realizing the angle adjustment. After the angle of movement is adjusted, Furthermore, when the main support arm 41 and the auxiliary support arm 45 need to be kept in a fixed position, the hydraulic system can be activated. Under liquid pressure, the second helical spring 58 will be compressed, and the second locking plate 59 will abut against one end of the first locking plate 44 until the friction between the first locking plate 44 and the second locking plate 59 is sufficient to ensure that the main support arm 41 and the auxiliary support arm 45 remain stable, thereby achieving angle locking of the main support arm 41 and the auxiliary support arm 45, thereby improving the anti-torsion ability of the equipment in the paused state. When the object gripped by the mechanical claw is too heavy, the continued rotation of the servo motor 3 will cause the torque to increase. When this torque is greater than the maximum static friction force formed by the first helical spring 68, the inner rotating column 610 and the arc-shaped contact plate 69 will rotate relative to each other. At this time, the rotor of the servo motor 3 can rotate normally, while the central rotating shaft 43 will not continue to move, thereby preventing the gripped object from being too heavy and causing damage to the servo motor 3.

[0027] Although embodiments of the invention have been shown and described, it will be understood by those skilled in the art that various changes, modifications, substitutions and alterations can be made to these embodiments without departing from the principles and spirit of the invention, the scope of which is defined by the appended claims and their equivalents.

Claims

1. A foldable mechanical arm comprising a first mounting frame (1) and a second mounting frame (2) and a servo motor (3) mounted on one end of the first mounting frame (1), characterized in that: It also includes, The folding support mechanism (4) includes a main support arm (41) fixedly connected to the first mounting bracket (1) and the second mounting bracket (2), a secondary support arm (45) mounted on one end of the main support arm (41) by a pin and capable of rotation, and a first locking plate (44) mounted on one side of the rotation direction of the main support arm (41) and the secondary support arm (45) and capable of rotating with the secondary support arm (45). And a hydraulic locking mechanism (5), the structure of which includes a hollow shell (51) fixedly installed at one end of the second mounting bracket (2) and having a hollow internal structure, a piston plate (56) placed inside the hollow shell (51) and capable of directional movement under liquid pressure, and a second locking plate (59) capable of moving with the piston plate (56) and generating a locking effect against the first locking plate (44).

2. The foldable robotic arm of claim 1, wherein: The folding support mechanism (4) further includes a main mounting plate (42) disposed at one end of the main support arm (41) and a secondary mounting plate (47) disposed at one end of the secondary support arm (45). The other end of the main support arm (41) is equipped with a rotatable central shaft (43) through a bearing. One end of the central shaft (43) is fixedly fitted with a locking plate (44). The other end of the secondary support arm (45) is provided with a shaft hole (46) fixedly installed at the shaft body of the central shaft (43).

3. The foldable robotic arm of claim 2, wherein: During operation, the main mounting plate (42) is fixedly connected to the drive structure for driving the movement of the robotic arm, and the secondary mounting plate (47) is fixedly connected to the robotic claw.

4. The foldable robotic arm of claim 3, wherein: There is a device accommodating space at the center of the main support arm (41), and the device accommodating space is sufficient to completely accommodate the secondary support arm (45).

5. A foldable robotic arm according to claim 4, characterized in that: The hydraulic locking mechanism (5) further includes a piston chamber (52) disposed inside the hollow housing (51). The hollow housing (51) is fixedly installed at one end of the second mounting bracket (2). A limiting flow cavity (53) is provided at one end of the piston chamber (52), and a first shaft through hole (55) is provided at the other end of the piston chamber (52). A hydraulic docking channel (54) is provided at one end of the limiting flow cavity (53). A device capable of moving along its axial direction is placed inside the piston chamber (52). The piston plate (56) has a horizontal movable rod (57) that passes through the first shaft through hole (55) installed at one end of the piston plate (56) facing the first shaft through hole (55). The horizontal movable rod (57) has a second helical spring (58) in a compressed state sleeved around the rod body located inside the piston cavity (52). The end of the horizontal movable rod (57) is fixedly installed with a second locking plate (59), and the second locking plate (59) corresponds to the first locking plate (44).

6. A foldable robotic arm according to claim 5, characterized in that: During operation, the hydraulic docking channel (54) is connected to the liquid circuit of a hydraulic system that can control the direction and pressure of liquid flow.

7. A foldable robotic arm according to any one of claims 2-6, characterized in that: It also includes a pressure-controlled linkage mechanism (6), which has an inner rotating column (610) that rotates with the rotor of the servo motor (3), a hollow disc (61) that can drive the central rotating shaft (43) to rotate, and an arc-shaped contact plate (69) that can link the hollow disc (61) and the inner rotating column (610) by means of friction.

8. A foldable robotic arm according to claim 7, characterized in that: The pressure-controlled linkage mechanism (6) further includes a hollow disc (61) and an inner rotating column (610). The upper end face of the hollow disc (61) is provided with a first shaft fixing groove (62) for fixing the central rotating shaft (43). The center of the hollow disc (61) is provided with a cylindrical component mounting cavity (63). The center of the bottom end of the hollow disc (61) is provided with a shaft mounting hole (64). The inside of the shaft mounting hole (64) is equipped with a rotating linkage shaft (612) through a bearing. The bottom end of the linkage shaft (612) is fixedly connected to the rotating end of the servo motor (3). The center of the cylindrical component mounting cavity (63) is provided with an inner rotating column (610). The center of the bottom of the inner rotating column (610) is provided with a second shaft fixing groove (611) for fixing the linkage shaft (612). The hollow disc (61) has a plurality of annular array-shaped transverse component movable cavities (65) arranged around the cylindrical component mounting cavity (63). The transverse component movable cavities (65) and the circumferential side surfaces of the cylindrical component mounting cavity (63) are connected by a second shaft through hole (66). The hollow disc (61) has an inner movable plate (67) that can move along the axial direction of the cylindrical component mounting cavity (63) inside the cylindrical component mounting cavity (63). A first helical spring (68) is placed at one end of the inner movable plate (67). A connecting shaft that passes through the second shaft through hole (66) is fixedly installed at the other end of the inner movable plate (67). An arc-shaped abutting plate (69) that abuts against the circumferential surface of the inner rotating column (610) is fixedly installed at one end of the connecting shaft located inside the cylindrical component mounting cavity (63).

9. A foldable robotic arm according to claim 8, characterized in that: One end of the first helical spring (68) abuts against one end face of the inner movable plate (67), and the other end abuts against one end face of the transverse component movable cavity (65), and the first helical spring (68) is in a compressed state.

10. A foldable robotic arm according to claim 9, characterized in that: The structural radius of the concave surface of the arc-shaped contact plate (69) matches the structural radius of the inner rotating column (610).

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