articulated arm

Abstract

The application belongs to the technical field of mechanical arms, and discloses a joint arm, which comprises a supporting base, a supporting arm and a hydraulic telescopic rod are fixedly connected to the top of the supporting base, a rotating ring is rotatably connected to the top of the supporting arm, a first connecting arm is rotatably connected to the inside of the rotating ring, a rotating assembly and a second connecting arm are rotatably connected to the two ends of the first connecting arm, respectively, the cooperation of the driving assembly and the limiting assembly and other structures is arranged, thereby improving the rotating range of the second connecting arm, solving the problem of limited rotating range, and the second connecting arm and the first connecting arm are pushed to be parallel by the connecting rod, at this time, the rotating buckle will extend over the blocking block, the cooperation of the first connecting arm and the rotating assembly and other structures is arranged, thereby solving the problem of single use function, the first motor is started to drive the connecting arm main body to rotate, and the second connecting arm is rotated by the connecting arm main body.

Description

Technical Field

[0001] This invention belongs to the field of robotic arm technology, specifically articulated arms. Background Technology

[0002] Articulated arms are special components in automated equipment such as robotic arms. They consist of two or more axes and have the advantages of high precision and good stability. Articulated arms are easy to operate and have a wide range of applications. They can be used to measure various large, heavy or immobile products and are widely used in the automotive, aerospace and other machinery processing industries.

[0003] Traditional articulated arms have limited range of motion due to the constraints of the joint support components, which greatly limits their effectiveness. Furthermore, articulated arms typically only allow for single vertical or horizontal movement. When multiple movements in the vertical and horizontal directions are required, multiple sets of articulated arms or other devices are needed, which increases costs. Therefore, a new type of articulated arm is proposed. Summary of the Invention

[0004] To address the issues of limited rotation range and single function mentioned in the background art, the present invention provides an articulated arm.

[0005] To achieve the above objectives, the present invention provides the following technical solution: an articulated arm, including a support base, a support arm fixedly connected to the top of the support base, a rotating ring rotatably connected to the top of the support arm, a first connecting arm rotatably connected inside the rotating ring, a rotating component and a second connecting arm rotatably connected to both ends of the first connecting arm, a driving component slidably connected to the middle of the first connecting arm, and a limiting component fixedly connected to the middle of the second connecting arm.

[0006] The first connecting arm includes a connecting arm body, one end of which is fixedly connected to a first transmission gear, a sliding groove is provided at the end of the connecting arm body away from the first transmission gear, and teeth are provided on the side of the connecting arm body.

[0007] Preferably, the rotating ring is located between the first transmission gear and the slide groove to support the main body of the connecting arm. The end of the second connecting arm away from the first connecting arm is provided with a mechanical claw. A hydraulic telescopic rod is fixedly connected to the top of the support base, and a pair of connecting sleeve rods are hinged to the top of the hydraulic telescopic rod.

[0008] Preferably, the first transmission gear is located at one end of the connecting arm body near the rotating assembly, the sliding grooves are distributed on both sides of the connecting arm body, and the teeth are located inside the sliding grooves. The rotating assembly includes a support housing, a limit rod is fixedly connected to the rear end of the support housing, a first motor is fixedly connected to the top of the limit rod, a single-sided gear is fixedly connected to the output end of the first motor, the support housing is sleeved on one end of the connecting arm body and rotatably connected to the connecting arm body, the limit rod is hinged to a pair of connecting sleeve rods, and the single-sided gear is rotatably connected to the first transmission gear.

[0009] Preferably, the drive assembly includes a sliding base, a second motor is fixedly connected to the top of the sliding base, a second transmission gear is fixedly connected to the output end of the second motor, a pair of connecting rods are hinged to the side end of the sliding base, and a rotating buckle is hinged to the end of the connecting rod away from the first connecting arm.

[0010] Preferably, the sliding base is slidably connected inside the groove, the second transmission gear is rotatably connected to the sliding base and meshes with the teeth, the connecting rod is located at the end of the sliding base away from the teeth, a pair of rotating buckles are hinged to the second connecting arm, and the hinge points of the pair of rotating buckles and the second connecting arm are concentric.

[0011] Preferably, the limiting component includes a main body shell, a pair of blocking blocks are slidably connected inside the main body shell, a pair of electromagnetic sliders are provided inside the main body shell, and a spring is fixedly connected to the middle of the blocking block.

[0012] Preferably, the main body shell is fixedly connected to the hinge of the rotating buckle and the second connecting arm, one end of the blocking block is provided with an inclined surface that is inclined toward the electromagnetic slider, the other end of the blocking block is provided with a locking protrusion that abuts against the rotating buckle, and the spring is fixedly connected to the main body shell.

[0013] Preferably, the second motor drives the second transmission gear to rotate, causing the sliding base to move along the slide groove. The sliding base pulls the connecting rod to move, causing the connecting rod to pull the second connecting arm to rotate through the rotating buckle.

[0014] Preferably, the sliding base pushes the second connecting arm forward to a horizontal position via a connecting rod, and the single-sided gear drives the connecting arm body to rotate via the first transmission gear, causing the connecting arm body to drive the second connecting arm to rotate, so that the second connecting arm rotates from a vertical position to a horizontal position.

[0015] Preferably, the sliding base pushes the second connecting arm to a parallel state with the first connecting arm via a connecting rod. At this time, the rotating buckle will extend past the blocking block, and the left electromagnetic slider will slide and squeeze the blocking block, causing the blocking block to extend toward the rotating buckle and limit the left rotating buckle. Then, the sliding base pulls the connecting rod, at which point the left rotating buckle is limited, causing the right rotating buckle to rotate, causing the connecting rod to rotate to the left, and pulling the second connecting arm to flip to the left.

[0016] Compared with the prior art, the beneficial effects of the present invention are as follows:

[0017] This invention improves the rotation range of the second connecting arm by setting up a drive component and a limiting component, thereby solving the problem of limited rotation range. The second connecting arm is pushed to a parallel state with the first connecting arm by the connecting rod. At this time, the rotating buckle will extend past the blocking block, and the blocking block limits the rotating buckle. When the sliding base pulls the connecting rod, the connecting rod can only rotate to the side of the limited rotating buckle, thereby increasing the flipping space of the second connecting arm and increasing the gripping and moving space of the mechanical claw.

[0018] This invention solves the problem of limited functionality by setting up a first connecting arm and a rotating assembly, etc. The first motor is started to drive the main body of the connecting arm to rotate, and the main body of the connecting arm drives the second connecting arm to rotate, rotating the second connecting arm to a horizontal or vertical position. Then, the hydraulic telescopic rod pulls the limiting rod downward through the connecting sleeve rod to pull the main body of the connecting arm to an inclined or horizontal position, so that the second connecting arm can be in either a vertical or horizontal position, thereby expanding the application range of the mechanical claw. Attached Figure Description

[0019] Figure 1 This is a schematic diagram of the overall structure of the present invention;

[0020] Figure 2 This is a cross-sectional schematic diagram of the rotating component of the present invention;

[0021] Figure 3 This is a schematic cross-sectional view of the first connecting arm of the present invention;

[0022] Figure 4 This is a schematic diagram of the second connecting arm of the present invention;

[0023] Figure 5 This is a cross-sectional schematic diagram of the limiting component of the present invention;

[0024] Figure 6 This is a schematic diagram of the blocking block and the rotating buckle abutting against each other in this invention;

[0025] Figure 7 This is an exploded view of the entire invention.

[0026] Figure 8 This is a schematic diagram of the second connecting arm in a horizontal state according to the present invention.

[0027] In the diagram: 1. Support base; 2. Support arm; 3. Rotating ring; 4. First connecting arm; 401. Connecting arm body; 402. First transmission gear; 403. Slide groove; 404. Tooth; 5. Rotating assembly; 501. Support housing; 502. Limiting rod; 503. First motor; 504. Single-sided gear; 6. Second connecting arm; 7. Drive assembly; 701. Sliding base; 702. Second motor; 703. Second transmission gear; 704. Connecting rod; 705. Rotating buckle; 8. Limiting assembly; 801. Main body shell; 802. Blocking block; 803. Electromagnetic slider; 804. Spring; 9. Mechanical claw; 10. Hydraulic telescopic rod; 11. Connecting sleeve rod. Detailed Implementation

[0028] 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.

[0029] like Figures 1 to 8 As shown, the present invention provides an articulated arm, including a support base 1, a support arm 2 and a hydraulic telescopic rod 10 fixedly connected to the top of the support base 1, a rotating ring 3 rotatably connected to the top of the support arm 2, a first connecting arm 4 rotatably connected inside the rotating ring 3, a rotating component 5 and a second connecting arm 6 rotatably connected to both ends of the first connecting arm 4, a driving component 7 slidably connected to the middle of the first connecting arm 4, and a limiting component 8 fixedly connected to the middle of the second connecting arm 6.

[0030] The first connecting arm 4 includes a connecting arm body 401, one end of which is fixedly connected to a first transmission gear 402, and the end of the connecting arm body 401 away from the first transmission gear 402 is provided with a sliding groove 403, and the side of the connecting arm body 401 is provided with teeth 404.

[0031] The above scheme is adopted as follows: the first motor 503 is started to drive the connecting arm body 401 to rotate, and the connecting arm body 401 drives the second connecting arm 6 to rotate, rotating the second connecting arm 6 to a horizontal or vertical state. Then, the hydraulic telescopic rod 10 pulls the limiting rod 502 downward through the connecting sleeve rod 11 to pull the connecting arm body 401 to an inclined or horizontal state, so that the second connecting arm 6 is in either a vertical or horizontal state, thereby expanding the application range of the mechanical claw 9. The sliding base 701 pushes the second connecting arm 6 to a parallel state with the first connecting arm 4 through the connecting rod 704. At this time, the rotating buckle 705 will extend past the blocking block 802. At this time, an electromagnetic slider 803 is activated to slide and squeeze the blocking block 802, causing the blocking block 802 to extend toward the rotating buckle 705, limiting the rotating buckle 705. When the sliding base 701 pulls the connecting rod 704, the connecting rod 704 can only rotate toward the side of the limited rotating buckle 705, thereby increasing the flipping space of the second connecting arm 6 and increasing the gripping and moving space of the mechanical claw 9.

[0032] When the second connecting arm 6 needs to be used vertically, the sliding base 701 pushes the second connecting arm 6 forward to a horizontal position through the connecting rod 704. Then, the first motor 503 is started to drive the single-sided gear 504 to rotate, which in turn drives the connecting arm body 401 to rotate through the first transmission gear 402. This causes the connecting arm body 401 to drive the second connecting arm 6 to rotate, so that the second connecting arm 6 rotates from a vertical position to a horizontal position, thereby adjusting the articulated arm from a vertical position to a horizontal position and improving the usability of the articulated arm.

[0033] like Figure 2 and Figure 3 As shown, the rotating ring 3 is located between the first transmission gear 402 and the slide groove 403, and is used to support the connecting arm body 401. The first transmission gear 402 is located at one end of the connecting arm body 401 near the rotating component 5. The slide groove 403 is distributed on both sides of the connecting arm body 401. The teeth 404 are located inside the slide groove 403. The second connecting arm 6 is provided with a mechanical claw 9 at one end away from the first connecting arm 4. The top of the support base 1 is fixedly connected to a hydraulic telescopic rod 10. A pair of connecting sleeve rods 11 are hinged to the top of the hydraulic telescopic rod 10.

[0034] The above solution is adopted: by setting a rotating ring 3, the connecting arm body 401 can be flipped up and down around the rotating ring 3 as the central axis. At the same time, the rotating ring 3 is rotatably connected to the connecting arm body 401, so that the connecting arm body 401 can rotate inside the rotating ring 3. By setting a first transmission gear 402, the connecting arm body 401 can be driven to rotate by the first transmission gear 402. The sliding grooves 403 opened on both sides of the connecting arm body 401 facilitate the sliding of the sliding base 701.

[0035] like Figure 1 , Figure 2 and Figure 7 As shown, the rotating assembly 5 includes a support housing 501. A limit rod 502 is fixedly connected to the rear end of the support housing 501. A first motor 503 is fixedly connected to the top of the limit rod 502. A single-sided gear 504 is fixedly connected to the output end of the first motor 503. The support housing 501 is sleeved on one end of the connecting arm body 401 and is rotatably connected to the connecting arm body 401. The limit rod 502 is hinged to a pair of connecting sleeve rods 11. The single-sided gear 504 is rotatably connected to the first transmission gear 402.

[0036] The above solution is adopted: by setting a rotating component 5, the support housing 501 is sleeved on one end of the connecting arm body 401 and rotatably connected to the connecting arm body 401, so that the support housing 501 can pull the connecting arm body 401 to adjust the horizontal angle of the connecting arm body 401. The design of the first motor 503 and the single-sided gear 504 is such that the single-sided gear 504 is meshed with the first transmission gear 402, so that the first motor 503 can drive the connecting arm body 401 to rotate through the single-sided gear 504 and the first transmission gear 402 to adjust the horizontal position orientation of the second connecting arm 6, so that the articulated arm can have more usable space.

[0037] like Figures 3 to 7 As shown, the drive assembly 7 includes a sliding base 701, a second motor 702 fixedly connected to the top of the sliding base 701, a second transmission gear 703 fixedly connected to the output end of the second motor 702, a pair of connecting rods 704 hinged to the side end of the sliding base 701, a rotating buckle 705 hinged to the end of the connecting rod 704 away from the first connecting arm 4, the sliding base 701 is slidably connected inside the slide groove 403, the second transmission gear 703 is rotatably connected to the sliding base 701, and the second transmission gear 703 meshes with the teeth 404, the connecting rod 704 is located at the end of the sliding base 701 away from the teeth 404, the pair of rotating buckles 705 are hinged to the second connecting arm 6, and the hinge points of the pair of rotating buckles 705 and the second connecting arm 6 are concentric.

[0038] The above solution is adopted as follows: by setting the drive component 7, the sliding base 701 slides inside the slide groove 403, the sliding base 701 pulls the connecting rod 704, thereby adjusting the position of the second connecting arm 6, the second transmission gear 703 is rotatably connected inside the sliding base 701, and the second transmission gear 703 meshes with the teeth 404, and can be driven by the second motor 702 to rotate, so that the sliding base 701 pulls the second connecting arm 6 through the connecting rod 704 to flip, so that the second connecting arm 6 flips.

[0039] like Figures 4 to 7As shown, the limiting component 8 includes a main body shell 801, a pair of blocking blocks 802 are slidably connected inside the main body shell 801, a pair of electromagnetic sliders 803 are provided inside the main body shell 801, a spring 804 is fixedly connected to the middle of the blocking block 802, the main body shell 801 is fixedly connected to the hinge of the rotating buckle 705 and the second connecting arm 6, one end of the blocking block 802 is provided with an inclined surface that is inclined towards the electromagnetic slider 803, the other end of the blocking block 802 is provided with a locking protrusion that abuts against the rotating buckle 705, and the spring 804 is fixedly connected to the main body shell 801.

[0040] The above solution is adopted as follows: By setting a limiting component 8, the blocking block 802 abuts against the rotating buckle 705 to control the direction in which the rotating buckle 705 pulls the second connecting arm 6 to rotate. The main body shell 801 is fixedly connected to the hinge between the rotating buckle 705 and the second connecting arm 6. A pair of blocking blocks 802 and an electromagnetic slider 803 are set inside the main body shell 801. The electromagnetic slider 803 presses the blocking block 802 to extend. An inclined surface is set at one end of the blocking block 802, which is inclined towards the electromagnetic slider 803, so that the electromagnetic slider 803 can easily press the blocking block 802 to extend. A spring 804 is fixedly connected in the middle of the blocking block 802, which can easily push the blocking block 802 to reset. A locking protrusion is set at the other end of the blocking block 802, which abuts against the rotating buckle 705 to limit the rotating buckle 705.

[0041] like Figures 3 to 6 As shown, the second motor 702 drives the second transmission gear 703 to rotate, which in turn causes the sliding base 701 to move along the slide groove 403. The sliding base 701 pulls the connecting rod 704 to move, causing the connecting rod 704 to pull the second connecting arm 6 to rotate through the rotating buckle 705.

[0042] The above solution is adopted: the second motor 702 drives the second transmission gear 703 to rotate, and the second transmission gear 703 drives the sliding base 701 to move along the slide groove 403, so that the sliding base 701 pulls the connecting rod 704 to move, and the connecting rod 704 pulls the second connecting arm 6 to rotate through the rotating buckle 705, so that the second connecting arm 6 can rotate in a large range and improve the application range of the articulated arm.

[0043] like Figures 2 to 6 As shown, the sliding base 701 pushes the second connecting arm 6 forward to a horizontal state through the connecting rod 704. The single-sided gear 504 drives the connecting arm body 401 to rotate through the first transmission gear 402, causing the connecting arm body 401 to drive the second connecting arm 6 to rotate, so that the second connecting arm 6 rotates from a vertical state to a horizontal state.

[0044] Using the above solution: When the sliding base 701 pushes the second connecting arm 6 forward to a horizontal position through the connecting rod 704, the first motor 503 is started to drive the single-sided gear 504 to rotate. The single-sided gear 504 drives the connecting arm body 401 to rotate through the first transmission gear 402, causing the connecting arm body 401 to drive the second connecting arm 6 to rotate, so that the second connecting arm 6 rotates from a vertical position to a horizontal position, thereby adjusting the vertical joint arm to a horizontal joint arm and improving the usability of the joint arm.

[0045] like Figures 3 to 6 As shown, the sliding base 701 pushes the second connecting arm 6 to a parallel state with the first connecting arm 4 via the connecting rod 704. At this time, the rotating buckle 705 will extend past the blocking block 802, activating the left electromagnetic slider 803 to slide and squeeze the blocking block 802, causing the blocking block 802 to extend toward the rotating buckle 705 and limit the left rotating buckle 705. Then, the sliding base 701 pulls the connecting rod 704, at which point the left rotating buckle 705 is limited, causing the right rotating buckle 705 to rotate, causing the connecting rod 704 to rotate to the left, pulling the second connecting arm 6 to flip to the left.

[0046] The above scheme is adopted as follows: When the sliding base 701 pushes the second connecting arm 6 to be parallel with the first connecting arm 4 through the connecting rod 704, the rotating buckle 705 will extend past the blocking block 802, so that the blocking block 802 is located on the side of the rotating buckle 705 close to the sliding base 701. At this time, the left electromagnetic slider 803 is activated to slide and squeeze the blocking block 802, so that the blocking block 802 extends towards the rotating buckle 705, limiting the left rotating buckle 705. Then, the sliding base 701 pulls the connecting rod 704 to move. At this time, the left rotating buckle 705 is limited, so that only the right rotating buckle 705 can rotate, so that the connecting rod 704 can only rotate to the left, so as to pull the second connecting arm 6 to flip to the left. When the left electromagnetic slider 803 is controlled to reset, the blocking block 802 is reset under the push of the spring 804 to release the limitation on the rotating buckle 705, thereby controlling the rotation direction of the second connecting arm 6, so that the second connecting arm 6 can rotate in both directions, and further expanding the rotation range of the second connecting arm 6.

[0047] The working principle and usage process of this invention are as follows: During operation, when the second connecting arm 6 needs to be used vertically, the first motor 503 is first started to drive the single-sided gear 504 to rotate. The single-sided gear 504, through the first transmission gear 402, drives the connecting arm body 401 to rotate, causing the connecting arm body 401 to rotate the second connecting arm 6. The second connecting arm 6 is rotated to a horizontal position. Then, the hydraulic telescopic rod 10 pulls the limiting rod 502 downwards through the connecting sleeve rod 11, pulling the connecting arm body 401 to an inclined position. This allows the second connecting arm 6 to rotate vertically, clamping and moving the object in the vertical direction. Furthermore, the sliding base 701 pushes the second connecting arm 6 to a parallel state with the first connecting arm 4 via the connecting rod 704. At this time, the rotating buckle 705 will extend past the blocking block 802, so that the blocking block 802 is located on the side of the rotating buckle 705 close to the sliding base 701. At this time, an electromagnetic slider 803 is activated to slide and squeeze the blocking block 802, so that the blocking block 802 extends toward the rotating buckle 705, limiting the rotating buckle 705. When the sliding base 701 pulls the connecting rod 704, the connecting rod 704 can only rotate toward the side of the limited rotating buckle 705, thereby increasing the flipping space of the second connecting arm 6 and increasing the gripping and moving space of the mechanical claw 9.

[0048] When the second connecting arm 6 needs to be used vertically, the sliding base 701 pushes the second connecting arm 6 forward to a horizontal position through the connecting rod 704. Then, the first motor 503 is started to drive the single-sided gear 504 to rotate, which in turn drives the connecting arm body 401 to rotate through the first transmission gear 402. This causes the connecting arm body 401 to drive the second connecting arm 6 to rotate, so that the second connecting arm 6 rotates from a vertical position to a horizontal position, thereby adjusting the articulated arm from a vertical position to a horizontal position and improving the usability of the articulated arm.

[0049] It should be noted that, in this document, relational terms such as "first" and "second" are used only to distinguish one entity or operation from another, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Furthermore, the terms "comprising," "including," or any other variations thereof are intended to cover non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such process, method, article, or apparatus.

[0050] 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. An articulated arm, including a support base (1), characterized in that: The support base (1) is fixedly connected to the top of the support arm (2), the top of the support arm (2) is rotatably connected to the rotating ring (3), the rotating ring (3) is rotatably connected to the inside of the rotating ring (3), the two ends of the first connecting arm (4) are respectively rotatably connected to the rotating component (5) and the second connecting arm (6), the middle of the first connecting arm (4) is slidably connected to the drive component (7), and the middle of the second connecting arm (6) is fixedly connected to the limit component (8). The first connecting arm (4) includes a connecting arm body (401), one end of which is fixedly connected to a first transmission gear (402), a sliding groove (403) is provided at the end of the connecting arm body (401) away from the first transmission gear (402), and teeth (404) are provided on the side of the connecting arm body (401). The drive assembly (7) includes a sliding base (701), a second motor (702) is fixedly connected to the top of the sliding base (701), a second transmission gear (703) is fixedly connected to the output end of the second motor (702), and a pair of connecting rods (704) are hinged to the side end of the sliding base (701). A rotating buckle (705) is hinged to the end of the connecting rod (704) away from the first connecting arm (4). The sliding base (701) is slidably connected inside the slide groove (403), the second transmission gear (703) is rotatably connected to the sliding base (701), and the second transmission gear (703) meshes with the teeth (404). The connecting rod (704) is located at the end of the sliding base (701) away from the teeth (404). A pair of rotating buckles (705) are hinged to the second connecting arm (6), and the hinge points of the pair of rotating buckles (705) and the second connecting arm (6) are concentric. The limiting component (8) includes a main body shell (801), a pair of blocking blocks (802) are slidably connected inside the main body shell (801), a pair of electromagnetic sliders (803) are provided inside the main body shell (801), and a spring (804) is fixedly connected to the middle of the blocking block (802). The main body shell (801) is fixedly connected to the hinge of the rotating buckle (705) and the second connecting arm (6). One end of the blocking block (802) is provided with an inclined surface that is inclined towards the electromagnetic slider (803). The other end of the blocking block (802) is provided with a locking protrusion that abuts against the rotating buckle (705). The spring (804) is fixedly connected to the main body shell (801).

2. The articulated arm according to claim 1, characterized in that: The rotating ring (3) is located between the first transmission gear (402) and the slide groove (403) to support the connecting arm body (401). The first transmission gear (402) is located at one end of the connecting arm body (401) near the rotating component (5). The slide groove (403) is distributed on both sides of the connecting arm body (401). The teeth (404) are located inside the slide groove (403). The second connecting arm (6) is provided with a mechanical claw (9) at one end away from the first connecting arm (4). The top of the support base (1) is fixedly connected to a hydraulic telescopic rod (10). A pair of connecting sleeve rods (11) are hinged to the top of the hydraulic telescopic rod (10).

3. The articulated arm according to claim 2, characterized in that: The rotating assembly (5) includes a support housing (501), a limit rod (502) is fixedly connected to the rear end of the support housing (501), a first motor (503) is fixedly connected to the top of the limit rod (502), a single-sided gear (504) is fixedly connected to the output end of the first motor (503), the support housing (501) is sleeved on one end of the connecting arm body (401) and rotatably connected to the connecting arm body (401), the limit rod (502) is hinged to a pair of connecting sleeve rods (11), and the single-sided gear (504) is rotatably connected to the first transmission gear (402).

4. The articulated arm according to claim 1, characterized in that: The second motor (702) drives the second transmission gear (703) to rotate, causing the sliding base (701) to move along the slide groove (403). The sliding base (701) pulls the connecting rod (704) to move, causing the connecting rod (704) to pull the second connecting arm (6) to rotate through the rotating buckle (705).

5. The articulated arm according to claim 3, characterized in that: The sliding base (701) pushes the second connecting arm (6) forward to a horizontal state through the connecting rod (704). The single-sided gear (504) drives the connecting arm body (401) to rotate through the first transmission gear (402), causing the connecting arm body (401) to drive the second connecting arm (6) to rotate, so that the second connecting arm (6) rotates from a vertical state to a horizontal state.

6. The articulated arm according to claim 1, characterized in that: The sliding base (701) pushes the second connecting arm (6) to be parallel to the first connecting arm (4) through the connecting rod (704). At this time, the rotating buckle (705) will extend past the blocking block (802), start the left electromagnetic slider (803) to slide and squeeze the blocking block (802), so that the blocking block (802) extends toward the rotating buckle (705) and limits the left rotating buckle (705). Then the sliding base (701) pulls the connecting rod (704), so that the left rotating buckle (705) is limited, causing the right rotating buckle (705) to rotate, causing the connecting rod (704) to rotate to the left, and pulling the second connecting arm (6) to flip to the left.

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