A mechanical arm device

Abstract

The present invention provides a mechanical arm device, belonging to the field of mechanical arm technology, comprising: a joint assembly installed on a base, and a mechanical claw assembly installed on the joint assembly. The mechanical claw assembly comprises: a housing, a first driving assembly, and a plurality of mechanical limb assemblies. Driven by the first driving assembly, the plurality of mechanical limb assemblies approach each other to clamp an object, and drive the object to move relative to the housing, or move away from each other to release the object. In this way, the relative position of the object and the mechanical arm can be adjusted to achieve the object being lifted upward.

Description

Technical Field

[0001] The present invention generally relates to the technical field of mechanical arms, and in particular to a mechanical arm device. Background Art

[0002] The existing robot arm includes multiple rotatable joints, generally 4 to 6 joints, and a mechanical claw. In the process of controlling the movement of the robot arm, the rotation angle of each joint needs to be adjusted separately so that the mechanical claw installed at the end of the robot arm is in the required position, thereby achieving the desired object.

[0003] The existing mechanical claw is equipped with multiple sets of mechanical limbs, which can simultaneously perform grasping and releasing actions under the control of a motor and a complex transmission structure.

[0004] When performing claw clamping, the three sets of mechanical limbs approach each other to clamp the object, but it is not possible to adjust the relative position of the object and the mechanical claws while clamping the object to achieve lifting the object upward. Summary of the invention

[0005] In view of the above-mentioned defects or deficiencies in the prior art, it is desired to provide a robotic arm device.

[0006] The present invention provides a mechanical arm device, comprising:

[0007] A joint assembly, wherein the joint assembly is mounted on a base;

[0008] A mechanical claw assembly, the mechanical claw assembly is installed at the end of the joint assembly away from the base; the mechanical claw assembly is used to clamp an object; the joint assembly is used to drive the mechanical claw assembly to move relative to the base;

[0009] The mechanical claw assembly comprises:

[0010] A housing, the housing being fixedly mounted on an end of the joint assembly away from the base;

[0011] a first drive assembly, the first drive assembly being mounted on the housing;

[0012] Multiple groups of mechanical limb components are movably mounted on the shell and connected to the first driving component, and are used to move closer to each other to clamp objects and drive the objects to move relative to the shell, or move away from each other to release the objects under the drive of the first driving component.

[0013] According to the technical solution provided by the present invention, the mechanical limb assembly includes:

[0014] A bracket assembly, wherein the bracket assembly is movably mounted on the housing;

[0015] A conveying assembly is installed on the support assembly and is used for abutting against an object and driving the object to move relative to the support assembly.

[0016] According to the technical solution provided by the present invention, the transmission component includes:

[0017] A plurality of first rollers, each of which is rotatably mounted on the bracket assembly;

[0018] A conveyor belt is simultaneously sleeved on a plurality of the first rollers and is used for contacting with an object.

[0019] According to the technical solution provided by the present invention, an installation space is formed between the conveyor belts;

[0020] The transmission component also includes:

[0021] A clamping assembly is installed on the bracket assembly and is located in the installation space for abutting against the conveyor belt.

[0022] According to the technical solution provided by the present invention, the clamping assembly includes:

[0023] A connecting plate, one end of which is rotatably mounted on the bracket assembly and is located in the installation space;

[0024] A plurality of second rollers, each of which is rotatably mounted on a side of the connecting plate close to the object and is used to abut against the conveyor belt;

[0025] An elastic rope, one end of which is fixedly connected to the shell, and the other end of which is fixedly connected to the other end of the connecting plate, is used to drive the connecting plate to rotate relative to the bracket assembly.

[0026] According to the technical solution provided by the present invention, a limit pin is installed on the bracket assembly;

[0027] The limiting pin is located in the installation space and on a side of the connecting plate away from the object, and is used for abutting against the connecting plate.

[0028] According to the technical solution provided by the present invention, the first driving component includes:

[0029] a first driving device, wherein the first driving device is fixedly mounted on the housing;

[0030] A first gear, the first gear being fixedly connected to a driving shaft of the first driving device;

[0031] a gear ring, the gear ring being rotatably mounted on the housing; the first gear being meshed with the gear ring;

[0032] A plurality of transmission mechanisms are installed on the housing and mesh with the gear ring at the same time; the plurality of transmission mechanisms are respectively connected to the transmission components of the plurality of mechanical limb components.

[0033] According to the technical solution provided by the present invention, the first driving component also includes:

[0034] a second driving device, the second driving device being fixedly mounted on the housing;

[0035] A transmission screw, one end of which is fixedly connected to the driving shaft of the second driving device and is used to rotate under the drive of the second driving device;

[0036] A transmission nut is sleeved on the transmission screw; the bracket assembly is rotatably connected to the transmission nut and is used to move relative to the housing under the drive of the transmission nut.

[0037] According to the technical solution provided by the present invention, the joint assembly includes:

[0038] A connecting arm assembly, wherein the connecting arm assembly is mounted on the base;

[0039] A parallel hinge mechanism, one end of which is mounted on the end of the connecting arm assembly away from the base, and the other end of which is connected to the mechanical claw assembly;

[0040] A plurality of third driving devices are fixedly mounted on the connecting arm assembly and are all connected to the parallel hinge mechanism, so as to drive the parallel hinge mechanism to move, and further drive the mechanical claw assembly to move relative to the base.

[0041] According to the technical solution provided by the present invention, a second gear is fixedly mounted on the driving shaft of the third driving device;

[0042] The parallel hinge mechanism comprises:

[0043] A connecting seat, the connecting seat is mounted on the connecting arm assembly;

[0044] A plurality of special-shaped gears, each of which is rotatably mounted on the connecting seat and is respectively meshed with the second gears on the driving shafts of the third driving devices;

[0045] A curved connecting rod, one end of which is hinged to the special-shaped gear, and the hinge axis is perpendicular to the driving shaft of the third driving device connected to the special-shaped gear;

[0046] A connecting block, wherein the connecting block is hinged to the other end of the curved connecting rod, and the hinge axis is perpendicular to the driving axis of the third driving device connected to the special-shaped gear;

[0047] A mounting plate is hinged to the connecting block, and a hinge axis is parallel to a driving axis of the third driving device connected to the special-shaped gear.

[0048] The beneficial effects of the present invention are:

[0049] The mechanical arm device includes a joint assembly mounted on a base, and a mechanical claw assembly mounted on the joint assembly. The mechanical claw assembly includes: a housing, a first driving assembly, and a plurality of mechanical limb assemblies. Driven by the first driving assembly, the plurality of mechanical limb assemblies approach each other to clamp an object, and drive the object to move relative to the housing, or move away from each other to release the object. In this way, the relative position of the object and the mechanical arm can be adjusted to achieve the object being lifted upward. BRIEF DESCRIPTION OF THE DRAWINGS

[0050] Other features, objects and advantages of the present invention will become more apparent from the detailed description of non-limiting embodiments made with reference to the following drawings:

[0051] Figure 1 It is a structural schematic diagram of a mechanical arm device;

[0052] Figure 2 It is a schematic diagram of the structure of the mechanical claw assembly;

[0053] Figure 3 is another structural schematic diagram of the mechanical claw assembly;

[0054] Figure 4 is a schematic diagram of the structure of a mechanical limb assembly;

[0055] Figure 5 is another structural schematic diagram of a mechanical limb assembly;

[0056] Figure 6 is a partial structural schematic diagram of a first drive assembly;

[0057] Figure 7 is a schematic structural diagram of a first drive assembly;

[0058] Figure 8 is a schematic diagram of the structure of the bracket assembly;

[0059] Fig. 9 is a structural schematic diagram of the transmission mechanism;

[0060] Fig.10 It is a structural schematic diagram of a parallel hinge mechanism;

[0061] Fig.11is another structural schematic diagram of a parallel hinge mechanism;

[0062] Among them: 1. base; 2. joint assembly; 3. mechanical claw assembly; 4. shell; 5. mechanical limb assembly; 6. bracket assembly; 7. transmission assembly; 8. first roller; 9. conveyor belt; 10. connecting plate; 11. second roller; 12. elastic rope; 13. limit pin; 14. first driving device; 15. first gear; 16. gear ring; 17. transmission mechanism; 18. second driving device; 19. transmission screw; 20. transmission nut; 21. connecting rod; 22. connecting rod; 23. connecting rod; 24. connecting rod; 25. connecting rod; 26. connecting rod; 27. connecting rod; 28. connecting rod; 29. ​​connecting rod; 30. connecting rod; 31. connecting rod; 32. connecting rod; 33. connecting rod; 34. connecting rod; 35. connecting rod; 36. connecting rod; 37. connecting rod; 38. connecting rod; 39. connecting rod; 40. connecting rod; 41. connecting rod; 42. connecting rod; 43. connecting rod; 44. connecting rod; 45. connecting rod; 46. connecting rod; 47. connecting rod; 48. connecting rod; 49. Connecting arm assembly; 22, parallel hinge mechanism; 23, second gear; 24, first connecting rod; 25, first bevel gear; 26, second bevel gear; 27, third gear; 28, second connecting rod; 29, first bracket; 30, second bracket; 31, triangular bracket; 32, third connecting rod; 33, connecting seat; 34, special-shaped gear; 35, third driving device; 36, curved connecting rod; 37, connecting block; 38, mounting plate; 39, second gear. DETAILED DESCRIPTION

[0063] The present invention will be further described in detail below in conjunction with the accompanying drawings and embodiments. It is to be understood that the specific embodiments described herein are only used to explain the relevant invention, rather than to limit the invention. It should also be noted that, for ease of description, only the parts related to the invention are shown in the accompanying drawings.

[0064] It should be noted that, in the absence of conflict, the embodiments of the present invention and the features in the embodiments can be combined with each other. The present invention will be described in detail below with reference to the accompanying drawings and in combination with the embodiments.

[0065] Please refer to Figure 1 The present invention provides a mechanical arm device, comprising:

[0066] A joint assembly 2, wherein the joint assembly 2 is mounted on the base 1;

[0067] A mechanical claw assembly 3, wherein the mechanical claw assembly 3 is mounted at an end of the joint assembly 2 away from the base 1; the mechanical claw assembly 3 is used to clamp an object; and the joint assembly 2 is used to drive the mechanical claw assembly 3 to move relative to the base 1;

[0068] refer to Figure 2 , the mechanical claw assembly 3 includes:

[0069] A housing 4, wherein the housing 4 is fixedly mounted on an end of the joint assembly 2 away from the base 1;

[0070] A first driving assembly, wherein the first driving assembly is mounted on the housing 4;

[0071] A plurality of groups of mechanical limb assemblies 5 are all movably mounted on the shell 4 and are all connected to the first driving assembly, and are used to approach each other to clamp an object and drive the object to move relative to the shell 4, or move away from each other to release the object under the drive of the first driving assembly.

[0072] Specifically, the mechanical limb assembly 5 is provided in three groups.

[0073] Driven by the first driving assembly, the multiple sets of mechanical limb assemblies 5 move closer to each other to clamp the object and drive the object to move relative to the housing 4, or move away from each other to release the object. In this way, the relative position of the object and the mechanical arm can be adjusted to achieve the object being lifted upward.

[0074] In some embodiments, when multiple sets of mechanical limb assemblies 5 clamp an object, a camera, a sensor or other device is installed on the housing 4 at a position facing the object to detect whether the object is clamped stably.

[0075] Further, refer to Figure 3-4 , the mechanical limb assembly 5 comprises:

[0076] A bracket assembly 6, wherein the bracket assembly 6 is movably mounted on the housing 4;

[0077] The transmission component 7 is installed on the support component 6 and is used for contacting with an object and driving the object to move relative to the support component 6.

[0078] Further, refer to Figure 4 , the transmission component 7 comprises:

[0079] A plurality of first rollers 8, wherein the plurality of first rollers 8 can be rotatably mounted on the bracket assembly 6;

[0080] The conveyor belt 9 is simultaneously sleeved on a plurality of the first rollers 8 for contacting with the object.

[0081] A conveyor belt 9 is sleeved on the plurality of first rollers 8 . When clamping an object, the conveyor belt 9 is used to drive the object to move relative to the housing 4 .

[0082] Specifically, the conveyor belts 9 of the multiple conveying components 7 move in the same direction as the side in contact with the object; then, the object is driven to move relative to the shell 4 by the contact between the conveyor belts 9 and the object, so the relative position of the object and the robotic arm can be adjusted to achieve the object being lifted upward.

[0083] Further, refer to Figure 5 , an installation space is formed between the conveyor belts 9;

[0084] The transmission component 7 also includes:

[0085] A clamping assembly is installed on the bracket assembly 6 and is located in the installation space, and is used to abut against the conveyor belt 9.

[0086] Specifically, when clamping objects of various shapes, the clamping may become unstable when moving to the middle of the conveyor belt 9, which may cause the object to fall off. Therefore, the present invention additionally designs a clamping assembly for clamping the object more stably when the object moves between multiple conveyor belts 9.

[0087] Furthermore, the clamping assembly comprises:

[0088] A connecting plate 10, one end of which is rotatably mounted on the bracket assembly 6 and is located in the installation space;

[0089] A plurality of second rollers 11, wherein the plurality of second rollers 11 are rotatably mounted on a side of the connecting plate close to the object, and are used to abut against the conveyor belt 9;

[0090] An elastic rope 12 , one end of which is fixedly connected to the housing 4 , and the other end of which is fixedly connected to the other end of the connecting plate 10 , is used to drive the connecting plate 10 to rotate relative to the bracket assembly 6 .

[0091] Specifically, the second roller 11 is used to abut against the conveyor belt 9 to reduce friction.

[0092] When the mechanical limb components 5 are close to each other to clamp an object, they are relatively far away from the housing 4; when they are far away from each other to release the object, they are relatively close to the housing 4; utilizing the structural characteristics of the mechanical limb components 5, an elastic rope 12 is connected between the housing 4 and the connecting plate 10.

[0093] When the mechanical limb assembly 5 approaches the clamped object, the elastic rope 12 pulls the multiple connecting plates 10 through elastic force, thereby driving the multiple second rollers 11 to abut against the inner side of the conveyor belt 9, causing the conveyor belt 9 to increase the pressure between the object and achieve a more stable clamping effect.

[0094] When the object needs to be released, the mechanical limb components 5 move away from each other, the elastic rope 12 returns to a natural state, and the connecting plate 10 is subjected to the force of the conveyor belt 9 and returns to its initial position. Thus, objects of different shapes can be stably clamped.

[0095] In some embodiments, the elastic rope 12 can be selected to allow the elastic rope 12 to be pulled to extend when the second rollers 11 and the connecting plates 10 are subjected to the reaction force of the object when clamping a larger object, so that the connecting plates 10 can be moved away from each other, thereby expanding the gaps between the conveyor belts 9. This method can prevent the situation where the gaps between the conveyor belts 9 are too small due to the clamping assembly, and the object is stuck.

[0096] In some embodiments, the middle portion of the elastic rope 12 is placed on one of the first rollers 8. This method can increase the expansion and contraction amount of the elastic rope 12, bring the multiple connecting plates 10 closer to each other, and further improve the clamping stability.

[0097] Furthermore, a limit pin 13 is installed on the bracket assembly 6;

[0098] The limiting pin 13 is located in the installation space and on a side of the connecting plate 10 away from the object, and is used for abutting against the connecting plate 10 .

[0099] Specifically, in order to avoid friction between the connecting plate 10 and the conveyor belt 9, a limit pin 13 is provided, which abuts against the connecting plate 10 when the elastic rope 12 does not pull the connecting plate 10. At the same time, there is a gap between the limit pin 13 and the conveyor belt 9, which can also avoid friction between the limit pin 13 and the conveyor belt 9.

[0100] Further, refer to Figure 6-7 , the first driving component comprises:

[0101] A first driving device 14, wherein the first driving device 14 is fixedly mounted on the housing 4;

[0102] A first gear 15, wherein the first gear 15 is fixedly connected to a driving shaft of the first driving device 14;

[0103] a gear ring 16, the gear ring 16 being rotatably mounted on the housing 4; the first gear 15 being meshed with the gear ring 16;

[0104] A plurality of transmission mechanisms 17 are installed on the housing 4 and meshed with the gear ring 16 at the same time; the plurality of transmission mechanisms 17 are respectively connected to the transmission components 7 of the plurality of mechanical limb components 5.

[0105] Specifically, refer to Fig. 9 , the transmission mechanism 17 comprises:

[0106] The second gear 23 and the first connecting rod 24 are mounted on the housing 4 ; the second gear 23 is meshed with the gear ring 16 ; one end of the first connecting rod 24 is fixedly connected to the second gear 23 , and the end away from the second gear 23 is fixedly connected to the first bevel gear 25 .

[0107] The bracket assembly 6 is provided with a second bevel gear 26 meshing with the first bevel gear 25. The second bevel gear 26 is coaxially fixedly connected with a third gear 27; the remaining third gears 27 mesh with each other in sequence and are finally connected with the first roller 8 of the transmission assembly 7 to drive the transmission assembly 7 to move.

[0108] When the mechanical claw assembly 3 clamps an object, the transmission assemblies 7 on the multiple mechanical limb assemblies 5 respectively abut against the object, and can drive the object to move relative to the shell 4.

[0109] Specifically, the first driving device 14 is a motor.

[0110] Since the second gears 23 on the multiple sets of mechanical limb components 5 are engaged with the gear ring 16 at the same time, the first drive device 14 can drive the gear ring 16 to rotate, and then synchronously drive the multiple conveying components 7 to move through each transmission mechanism 17; this method can ensure the smooth lifting of objects and prevent objects from rotating between multiple conveyor belts 9 and being unable to translate.

[0111] Further, refer to Figure 7 , the first driving component also includes:

[0112] A second driving device 18, wherein the second driving device 18 is fixedly mounted on the housing 4;

[0113] a transmission screw 19, one end of which is fixedly connected to the driving shaft of the second driving device 18, and is used for rotating under the drive of the second driving device 18;

[0114] The transmission nut 20 is sleeved on the transmission screw 19 ; the bracket assembly 6 is rotatably connected to the transmission nut 20 and is used to move relative to the housing 4 under the drive of the transmission nut 20 .

[0115] Specifically, the second driving device 18 is a motor.

[0116] refer to Figure 8 , the bracket assembly 6 comprises:

[0117] One end of the second connecting rod 28 is rotatably connected to the driving nut 20 , and the other end of the second connecting rod 28 is rotatably connected to the first bracket 29 .

[0118] The second bracket 30 is arranged parallel to the first bracket 29 , one end of which is hinged to the third connecting rod 32 , and the other end of which is hinged to the triangular bracket 31 .

[0119] A parallelogram is formed between the first bracket 29, the second bracket 30, the third connecting rod 32 and the triangular bracket 31. When the second driving device 18 drives the second connecting rod 28 to move through the transmission screw 19 and the transmission nut 20, the parallelogram changes shape so that the triangular bracket 31 moves closer to or away from the object.

[0120] In some embodiments, both ends of the third connecting rod 32 are fixed to the shell 4, so that when the bracket assembly 6 moves relative to the shell 4, the triangular bracket 31 translates relative to the shell 4 without rotating, thereby ensuring stable clamping of the object.

[0121] Furthermore, the joint assembly 2 comprises:

[0122] A connecting arm assembly 21, wherein the connecting arm assembly 21 is mounted on the base 1;

[0123] A parallel hinge mechanism 22, one end of which is mounted on the end of the connecting arm assembly 21 away from the base 1, and the other end of which is connected to the mechanical claw assembly 3;

[0124] A plurality of third driving devices 35 are fixedly mounted on the connecting arm assembly 21 and are all connected to the parallel hinge mechanism 22 for driving the parallel hinge mechanism 22 to move, thereby driving the mechanical claw assembly 3 to move relative to the base 1.

[0125] Further, refer to Figure 10-11 , a second gear 39 is fixedly mounted on the driving shaft of the third driving device 35;

[0126] The parallel hinge mechanism 22 comprises:

[0127] A connecting seat 33, wherein the connecting seat 33 is mounted on the connecting arm assembly 21;

[0128] A plurality of special-shaped gears 34, wherein the plurality of special-shaped gears 34 can be rotatably mounted on the connecting seat 33 and respectively mesh with the second gears 39 on the driving shafts of the plurality of third driving devices 35;

[0129] A curved connecting rod 36, one end of which is hinged to the special-shaped gear 34, and the hinge axis is perpendicular to the driving axis of the third driving device 35 connected to the special-shaped gear 34;

[0130] A connecting block 37, wherein the connecting block 37 is hinged to the other end of the curved connecting rod 36, and the hinge axis is perpendicular to the driving axis of the third driving device 35 connected to the special-shaped gear 34;

[0131] The mounting plate 38 is hinged to the connecting block 37 , and the hinge axis is parallel to the driving axis of the third driving device 35 connected to the special-shaped gear 34 .

[0132] Specifically, the special-shaped gear 34 includes a semicircular portion, a tooth structure at the edge, and a through hole for connection. The opening direction of the through hole is perpendicular to the plane where the semicircular portion is located. The driving shaft of one of the third driving devices 35 is meshed with the teeth on the edge of the semicircular portion of the special-shaped gear 34 through the second gear 39.

[0133] The driving shafts of the plurality of third driving devices 35 are arranged at an angle of 120 degrees to each other. Through mutual coordination and control, the positions and postures of the plurality of curved connecting rods 36 are changed differently, thereby controlling the relative position and posture between the mounting plate 38 and the connecting seat 33; thereby realizing the function of the joint, and this mutual coordination and control method is a prior art.

[0134] The working process of the mechanical claw assembly 3 includes:

[0135] The first driving device 14 drives the gear ring 16 to rotate through the first gear 15 , and then drives the transmission assembly 7 to move through the transmission mechanism 17 .

[0136] The second driving device 18 drives the transmission screw 19 to rotate in the positive direction, thereby driving the transmission nut 20 to translate along the extension direction of the transmission screw 19, and drives the multiple bracket assemblies 6 to rotate relative to the housing 4 and move closer to each other.

[0137] In this embodiment, the position where the elastic rope 12 is connected to the housing 4 coincides with a vertex of the parallelogram structure of the bracket assembly 6, which is called the connection vertex; the vertex where the bracket assembly 6 and the housing 4 are connected is called the fixed vertex; the connection vertex is adjacent to the fixed vertex. The connection vertex and the fixed vertex are respectively located at the two ends of the third connecting rod 32.

[0138] During this process, since the bracket assembly 6 has a parallelogram structure and the vertex position is fixed, the angle between the second bracket 30 and the third connecting rod 32 gradually increases; the position of the connection vertex changes relative to the shell 4, so that the diagonal distance of the connection vertex increases.

[0139] As the distance between the diagonals increases, the elastic rope 12 mounted on the bracket assembly 6 is stretched, driving the connecting plate 10 to rotate relative to the triangular bracket 31 and abut against the inner side of the conveyor belt 9, eventually causing the conveyor belt 9 to deform and clamp the object.

[0140] Similarly, when the object needs to be released, the second drive device 18 drives the transmission screw 19 to rotate in the opposite direction, and the multiple bracket assemblies 6 are moved away from each other through the same transmission method. The diagonal distance connecting the vertices in the parallelogram structure of the bracket assembly 6 is reduced, and the elastic rope 12 gradually relaxes; since the conveyor belt 9 itself is elastic, its inner surface abuts against the second roller 11, driving the connecting plate 10 to return to its initial position.

[0141] The above description is only a preferred embodiment of the present invention and an explanation of the technical principles used. Those skilled in the art should understand that the scope of the invention involved in the present invention is not limited to the technical solution formed by a specific combination of the above technical features, but should also cover other technical solutions formed by any combination of the above technical features or their equivalent features without departing from the inventive concept. For example, the above features are replaced with the technical features with similar functions disclosed in the present invention (but not limited to) to form a technical solution.

Claims

1. A robotic arm device, characterized in that: include: A joint assembly (2), wherein the joint assembly (2) is mounted on the base (1); A mechanical claw assembly (3), the mechanical claw assembly (3) being mounted on an end of the joint assembly (2) away from the base (1); the mechanical claw assembly (3) being used to clamp an object; and the joint assembly (2) being used to drive the mechanical claw assembly (3) to move relative to the base (1); The mechanical claw assembly (3) comprises: A housing (4), the housing (4) being fixedly mounted on an end of the joint assembly (2) away from the base (1); A first drive assembly, the first drive assembly being mounted on the housing (4); A plurality of sets of mechanical limb assemblies (5), each of which is movably mounted on the housing (4) and connected to the first drive assembly, and is used to move closer to each other to clamp an object and drive the object to move relative to the housing (4), or move away from each other to release the object, under the drive of the first drive assembly; The mechanical limb assembly (5) comprises: A bracket assembly (6), the bracket assembly (6) being movably mounted on the housing (4); a conveying assembly (7), the conveying assembly (7) being mounted on the support assembly (6) and being used for contacting an object and driving the object to move relative to the support assembly (6); The transmission component (7) comprises: a plurality of first rollers (8), each of which is rotatably mounted on the bracket assembly (6); A conveyor belt (9), wherein the conveyor belt (9) is simultaneously sleeved on a plurality of the first rollers (8) and is used to abut against an object; An installation space is formed between the conveyor belts (9); The transmission component (7) further comprises: a clamping assembly, the clamping assembly being mounted on the bracket assembly (6) and being located in the mounting space and being used for abutting against the conveyor belt (9); The clamping assembly comprises: a connecting plate (10), one end of the connecting plate (10) being rotatably mounted on the bracket assembly (6) and being located in the installation space; a plurality of second rollers (11), each of the plurality of second rollers (11) being rotatably mounted on a side of the connecting plate (10) close to the object and used for contacting the conveyor belt (9); An elastic rope (12), one end of the elastic rope (12) being fixedly connected to the housing (4), and the other end of the elastic rope (12) being fixedly connected to the other end of the connecting plate (10), and being used for driving the connecting plate (10) to rotate relative to the bracket assembly (6).

2. A robotic arm device according to claim 1, characterized in that: A limit pin (13) is installed on the bracket assembly (6); The limiting pin (13) is located in the installation space and on a side of the connecting plate (10) away from the object, and is used for abutting against the connecting plate (10).

3. A robotic arm device according to claim 1, characterized in that: The first driving assembly comprises: A first driving device (14), wherein the first driving device (14) is fixedly mounted on the housing (4); A first gear (15), the first gear (15) being fixedly connected to a drive shaft of the first drive device (14); a gear ring (16), the gear ring (16) being rotatably mounted on the housing (4); the first gear (15) being meshed with the gear ring (16); A plurality of transmission mechanisms (17) are installed on the housing (4) and mesh with the gear ring (16) at the same time; the plurality of transmission mechanisms (17) are respectively connected in transmission with the transmission components (7) of the plurality of mechanical limb components (5).

4. A robotic arm device according to claim 3, characterized in that: The first drive assembly also includes: a second driving device (18), the second driving device (18) being fixedly mounted on the housing (4); a transmission screw (19), one end of the transmission screw (19) being fixedly connected to a drive shaft of the second drive device (18) and configured to rotate under the drive of the second drive device (18); A transmission nut (20), the transmission nut (20) being sleeved on the transmission lead screw (19); the bracket assembly (6) is rotatably connected to the transmission nut (20) and is used to move relative to the housing (4) under the drive of the transmission nut (20).

5. The mechanical arm device according to claim 1, characterized in that: The joint assembly (2) comprises: A connecting arm assembly (21), wherein the connecting arm assembly (21) is mounted on the base (1); A parallel hinge mechanism (22), one end of the parallel hinge mechanism (22) being mounted on an end of the connecting arm assembly (21) away from the base (1), and the other end of the parallel hinge mechanism (22) being connected to the mechanical claw assembly (3); A plurality of third drive devices (35), wherein the plurality of third drive devices (35) are fixedly mounted on the connecting arm assembly (21) and are all connected to the parallel hinge mechanism (22), and are used to drive the parallel hinge mechanism (22) to move, thereby driving the mechanical claw assembly (3) to move relative to the base (1).

6. A robotic arm device according to claim 5, characterized in that: A second gear (39) is fixedly mounted on the driving shaft of the third driving device (35); The parallel hinge mechanism (22) comprises: A connecting seat (33), the connecting seat (33) being mounted on the connecting arm assembly (21); a plurality of special-shaped gears (34), wherein the plurality of special-shaped gears (34) are rotatably mounted on the connecting seat (33) and are respectively meshed with the second gears (39) on the driving shafts of the plurality of third driving devices (35); a curved connecting rod (36), one end of the curved connecting rod (36) being hinged to the special-shaped gear (34), and the hinge axis being perpendicular to the drive axis of the third drive device (35) connected to the special-shaped gear (34); a connecting block (37), the connecting block (37) being hinged to the other end of the curved connecting rod (36), and the hinge axis being perpendicular to the driving axis of the third driving device (35) connected to the special-shaped gear (34); A mounting plate (38), wherein the mounting plate (38) is hinged to the connecting block (37), and the hinge axis is parallel to a drive axis of the third drive device (35) connected to the special-shaped gear (34).

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