Mechanical arm structure and inspection robot

Abstract

The invention relates to the technical field of mechanical arm structures, and discloses a mechanical arm structure and an inspection robot, the mechanical arm structure comprises a mechanical arm body, the top end of the mechanical arm body is fixedly connected with a rotating block, the rotating block is internally and fixedly connected with a rotating motor, and the output end of the rotating motor is fixedly connected with a fixed block; the side, away from the rotating motor, of the fixing block is fixedly connected with a connecting block, the cross section of the connecting block is triangular, the outer wall of the connecting block is connected with a clamping assembly, a cleaning assembly and a pressing assembly, and a driving assembly is connected into the connecting block. According to the mechanical arm structure and the inspection robot, the clamping assembly, the cleaning assembly and the pressing assembly are integrated, and the rotating motor and the driving system are combined, so that the function diversification and the operation flexibility of the mechanical arm are realized, and the inspection robot can execute various complex inspection tasks according to environmental requirements.

Description

Technical Field

[0001] The present invention relates to the technical field of mechanical arm structures, and in particular to a mechanical arm structure and an inspection robot. Background Art

[0002] Inspection robots are usually equipped with a robotic arm to perform various inspection tasks. The high precision and multi-input and multi-output characteristics of the robotic arm enable it to flexibly complete various complex operations. By using a robotic arm, the inspection robot can easily perform difficult tasks such as opening tightly closed cabinet doors, carefully inspecting the status of components inside, and accurately opening and closing various switches.

[0003] In the prior art, a utility model patent with authorization announcement number CN220313350U discloses a mechanical arm and an inspection robot including the mechanical arm, wherein the mechanical arm comprises a multi-stage mechanical arm and a rotating tray, and the bottom of the multi-stage mechanical arm is connected to the rotating tray; the rotating tray comprises a driving gear, a driven gear and a tray shell, the driving gear and the driven gear are arranged inside the tray shell, the driving gear and the driven gear are meshed with each other, so that the driven gear rolls along the inner wall of the tray shell, the driven gear is provided with a connecting rod, and a fan-shaped track opening is provided on the upper surface of the tray shell, the connecting rod protrudes from the fan-shaped track opening, when the driven gear rolls along the inner wall of the tray shell, the connecting rod moves along the fan-shaped track opening; the bottom of the multi-stage mechanical arm cooperates with the connecting rod, when the connecting rod moves along the fan-shaped track, the multi-stage mechanical arm moves along the fan-shaped track, and a collection device is provided at the end of the multi-stage mechanical arm.

[0004] Although the robotic arm in the above patent can further move the root of the robotic arm and increase the range of motion of the robotic arm, the function of the robotic arm when in use is relatively single and lacks sufficient diversity and flexibility, making it difficult to meet the various needs of the inspection robot during operation. Summary of the invention

[0005] In view of the deficiencies in the prior art, the present invention provides a mechanical arm structure and an inspection robot to solve the problems raised by the background technology, so that the mechanical arm has multiple functions.

[0006] To achieve the above-mentioned objectives, the present invention provides the following technical solutions: a robotic arm structure, comprising a robotic arm body, a rotating block fixedly connected to the top of the robotic arm body, a rotating motor fixedly connected inside the rotating block, a fixed block fixedly connected to the output end of the rotating motor, a connecting block fixedly connected to the side of the fixed block away from the rotating motor, the connecting block has a triangular cross-section, a clamping assembly, a cleaning assembly and a pressing assembly are connected to the outer wall of the connecting block, and a driving assembly is connected inside the connecting block.

[0007] Furthermore, the clamping assembly includes a moving rod, a moving block, a rotating rod and a clamping plate. A clamping groove is provided on one side of the outer wall of the connecting block, a moving groove is provided on the inner side of the clamping groove, a moving rod is rotatably connected in the moving groove, two symmetrically arranged moving blocks are threadedly connected to the outer wall of the moving rod, the moving block is slidably connected to the clamping groove, a rotating rod is fixedly connected to one side of the moving block, a clamping plate is rotatably connected to the outer wall of the rotating rod, and one end of the moving rod is connected to the driving assembly.

[0008] Furthermore, the cleaning component includes a winding roller, a cleaning belt and a coil spring. Two symmetrically arranged winding grooves are opened on one side of the outer wall of the connecting block. A winding roller is rotatably connected in the winding groove. Both ends of the cleaning belt are wound around the outer wall of the winding roller. The cleaning belt fits the outer wall of the connecting block. One end of one of the winding rollers is fixedly connected to a coil spring, and the coil spring is fixedly connected to the inside of the connecting block. One end of the other winding roller is connected to the driving component.

[0009] Furthermore, the pressing assembly includes a pressing rod and a driving wheel. A telescopic groove is opened on one side of the connecting block. The pressing rod is slidably connected in the telescopic groove. The middle part of the pressing rod is threadedly connected to the driving wheel. The driving wheel is rotatably connected to the connecting block, and the outer wall of the driving wheel is connected to the driving assembly.

[0010] Furthermore, the driving assembly includes a main motor, a threaded rod, a main gear, a connecting pipe, a limit gear, a first gear, a second gear, a third gear, a transmission wheel, a transmission belt and a driven wheel. The main motor is fixedly connected in the fixed block, the output end of the main motor is fixedly connected to the threaded rod, a rotation groove corresponding to the position of the threaded rod is opened in the connecting block, the end of the threaded rod away from the main motor is threadedly connected to the main gear, one side of the main gear is fixedly connected to the connecting pipe, the side of the connecting pipe away from the main gear is fixedly connected to the limit gear, and the connecting pipe and the limit gear are both connected to The threaded rod is threadedly connected, and the inner wall of the rotating groove is connected to a limiting component. Gear No. 1, gear No. 2 and gear No. 3 are rotatably connected in the connecting block. Gear No. 1, gear No. 2 and gear No. 3 are rotationally staggered along the threaded rod. Gear No. 1, gear No. 2 and gear No. 3 all correspond to the outer wall position of the main gear. One end of the moving rod is rotatably connected to a driven wheel, the driven wheel is meshed with gear No. 1, gear No. 2 is meshed with the outer wall of the driving wheel, and gear No. 3 and one end of the rotating shaft of the winding roller are fixedly connected to a transmission wheel, and the two transmission wheels are connected by a transmission belt.

[0011] Furthermore, the limiting assembly includes a sliding plate, a clamping plate and a micro electric push rod. A sliding groove is opened on the inner wall of the rotating groove. A sliding plate is slidably connected in the sliding groove. A micro electric push rod is fixedly connected in the sliding groove. The output end of the micro electric push rod is fixedly connected to one side of the sliding plate. A clamping plate is fixedly connected to the other side of the sliding plate. The clamping plate corresponds to the position of the limiting gear.

[0012] Furthermore, a torsion spring is sleeved on the outer wall of the rotating rod, and the torsion spring is fixedly connected to the clamping plate. Two symmetrically arranged baffles are fixedly connected to one side of the connecting block close to the clamping groove, and one side of the baffle close to the clamping plate is an arc surface.

[0013] Furthermore, a wear-resistant layer is fixedly connected to one side of the clamping plate.

[0014] The present invention also provides an inspection robot, comprising a robot body, wherein the robot body comprises any of the above-mentioned mechanical arm structures, and the lower end of the mechanical arm body is fixedly connected to the robot body.

[0015] Compared with the prior art, the present invention has the following beneficial effects:

[0016] This type of robotic arm structure and inspection robot achieves the diversification of robotic arm functions and flexibility of operation by integrating clamping components, cleaning components and pressing components, and combining rotating motors and drive systems. It can also perform a variety of complex inspection tasks according to environmental needs, so that the inspection robot can easily expand or adjust its functions when facing different environments and tasks, so as to better adapt to various complex inspection scenarios. It not only improves the work efficiency and accuracy of the inspection robot, but also significantly enhances its environmental adaptability and task execution capabilities. BRIEF DESCRIPTION OF THE DRAWINGS

[0017] Figure 1 It is a schematic diagram of the overall three-dimensional structure of the present invention;

[0018] Figure 2 It is a schematic diagram of the three-dimensional split cross-sectional structure of the connecting block, the rotating block and the rotating motor of the present invention;

[0019] Figure 3 It is a schematic diagram of the three-dimensional split structure of the connecting block and the clamping assembly of the present invention;

[0020] Figure 4 It is a schematic diagram of the three-dimensional split structure of the clamping plate, the moving block and the wear-resistant layer of the present invention;

[0021] Figure 5 It is a schematic diagram of the three-dimensional cross-sectional structure of the connecting block, the driving assembly and the cleaning assembly of the present invention;

[0022] Figure 6 It is a schematic diagram of the three-dimensional structure of the driving assembly of the present invention;

[0023] Figure 7 It is a schematic diagram of the three-dimensional split structure of the main motor, threaded rod and main gear of the present invention;

[0024] Figure 8 It is a schematic diagram of the three-dimensional structure of the limiting component of the present invention;

[0025] Fig. 9 It is a schematic diagram of the three-dimensional split structure of the pressing rod, the driving wheel and the second gear of the present invention;

[0026] Fig.10 It is a schematic diagram of the three-dimensional structure of the cleaning component of the present invention;

[0027] Fig.11 It is a schematic diagram of the three-dimensional cross-sectional structure of the connecting block of the present invention;

[0028] Fig.12 It is a schematic diagram of the three-dimensional structure of the baffle of the present invention;

[0029] Fig.13 It is a three-dimensional structural schematic diagram of the limit gear, main gear, second gear and transmission belt of the present invention.

[0030] In the figure: 1. robot body; 2. robot arm body; 3. rotating block; 4. fixed block; 5. connecting block; 6. rotating motor; 7. clamping groove; 8. moving groove; 9. moving rod; 10. moving block; 11. rotating rod; 12. clamping plate; 13. wear-resistant layer; 14. winding groove; 15. winding roller; 16. cleaning belt; 17. coil spring; 18. telescopic groove; 19. pressing rod; 20. driving wheel; 21. rotating groove; 22. main motor; 23. threaded rod; 24. main gear; 25. connecting pipe; 26. limit gear; 27. sliding groove; 28. sliding plate; 29. ​​clamping plate; 30. micro electric push rod; 31. gear No. 1; 32. gear No. 2; 33. gear No. 3; 34. transmission wheel; 35. transmission belt; 36. baffle; 37. driven wheel; 38. torsion spring. DETAILED DESCRIPTION

[0031] The technical solutions in the embodiments of the present invention will be described clearly and completely below in conjunction with the drawings in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, rather than all the embodiments.

[0032] See also Figures 1 to 13 A robotic arm structure includes a robotic arm body 2, a rotating block 3 is fixedly connected to the top of the robotic arm body 2, a rotating motor 6 is fixedly connected to the rotating block 3, a fixed block 4 is fixedly connected to the output end of the rotating motor 6, a connecting block 5 is fixedly connected to the side of the fixed block 4 away from the rotating motor 6, the cross-section of the connecting block 5 is triangular, a clamping component, a cleaning component and a pressing component are connected to the outer wall of the connecting block 5, and a driving component is connected to the inside of the connecting block 5.

[0033] The robotic arm structure of the present invention realizes the diversification of the robotic arm functions and the flexibility of operation by integrating the clamping component, the cleaning component and the pressing component, and combining the rotating motor 6 and the driving system, so that the inspection robot can perform a variety of complex inspection tasks according to environmental needs, and the inspection robot can easily expand or adjust its functions when facing different environments and tasks, so as to better adapt to various complex inspection scenarios, which not only improves the working efficiency and accuracy of the inspection robot, but also significantly enhances its environmental adaptability and task execution capabilities.

[0034] As a preferred technical solution of the present invention, the clamping assembly includes a moving rod 9, a moving block 10, a rotating rod 11 and a clamping plate 12. A clamping groove 7 is provided on one side of the outer wall of the connecting block 5, and a moving groove 8 is provided on the inner side of the clamping groove 7. The moving rod 9 is rotatably connected in the moving groove 8. The outer wall of the moving rod 9 is threadedly connected to two symmetrically arranged moving blocks 10. The moving block 10 is slidably connected to the clamping groove 7. A rotating rod 11 is fixedly connected to one side of the moving block 10. The outer wall of the rotating rod 11 is rotatably connected to the clamping plate 12. One end of the moving rod 9 is connected to the driving assembly.

[0035] Specifically, when the inspection robot needs to pick up items on the ground or grab or rotate the handle, the moving rod 9 rotates. Since the moving rod 9 and the moving block 10 are threadedly connected, the rotation of the moving rod 9 can be converted into a linear movement of the moving block 10 in the moving groove 8. At this time, the two moving blocks 10 will approach each other along the axis of the moving rod 9, driving the two clamping plates 12 to move closer to each other and clamp the items. When the two clamping plates 12 are close enough to each other, they will clamp the items tightly. At this time, the inspection robot can lift or move or rotate the items to other positions by controlling the overall movement of the mechanical arm body 2, thereby realizing operations such as picking up items and rotating the handle. It should be noted that the moving rod 9 is a bidirectional threaded rod.

[0036] As a preferred technical solution of the present invention, the cleaning component includes a winding roller 15, a cleaning belt 16 and a coil spring 17. Two symmetrically arranged winding grooves 14 are opened on one side of the outer wall of the connecting block 5. The winding roller 15 is rotatably connected in the winding groove 14. Both ends of the cleaning belt 16 are wound around the outer wall of the winding roller 15. The cleaning belt 16 is in contact with the outer wall of the connecting block 5. One end of one of the winding rollers 15 is fixedly connected to a coil spring 17, and the coil spring 17 is fixedly connected to the inside of the connecting block 5. One end of the other winding roller 15 is connected to the driving component.

[0037] Specifically, when the camera lens and the cabinet need to be cleaned, the driving component will drive the winding roller 15 connected to the cleaning belt 16 to rotate. Due to the presence of the coil spring 17, the cleaning belt 16 will maintain a certain tension during the rotation process to ensure its close contact with the surface to be cleaned. As the winding roller 15 rotates, the cleaning belt 16 begins to move on the surface to be cleaned. Since the cleaning belt 16 fits the outer wall of the connecting block 5 and has a certain width, it can effectively cover and clean various parts of the surface to be cleaned; when the entire surface is cleaned, the winding roller 15 rotates in the opposite direction, and the coil spring 17 will rewind the released cleaning belt 16 for the next cleaning work; the cleaning belt 16 is a material with cleaning function, such as a microfiber cloth, wet wipes or a special material with a detergent.

[0038] As a preferred technical solution of the present invention, the pressing assembly includes a pressing rod 19 and a driving wheel 20. A telescopic groove 18 is opened on one side of the connecting block 5. The pressing rod 19 is slidably connected in the telescopic groove 18. The middle part of the pressing rod 19 is threadedly connected to the driving wheel 20. The driving wheel 20 is rotatably connected to the connecting block 5, and the outer wall of the driving wheel 20 is connected to the driving assembly.

[0039] Specifically, when an operation that requires the use of a button is encountered, the robot arm body 2 moves to control the pressing rod 19 to be aligned with the button, and then the driving assembly drives the driving wheel 20 to rotate. Since the driving wheel 20 and the pressing rod 19 are threadedly connected, the rotation of the driving wheel 20 will be converted into a linear movement of the pressing rod 19 in the telescopic slot 18, so that the pressing rod 19 extends out of the connecting block 5 and contacts the button to realize the pressing operation; when an operation that requires dialing, etc. is encountered, after the pressing rod 19 is extended, the pressing rod 19 can be slightly moved by the robot arm body 2 to realize the dialing action. This movement can be in a variety of ways such as up and down, left and right or rotation, depending on the needs of the dialing operation.

[0040] As a preferred technical solution of the present invention, the driving assembly includes a main motor 22, a threaded rod 23, a main gear 24, a connecting pipe 25, a limit gear 26, a No. 1 gear 31, a No. 2 gear 32, a No. 3 gear 33, a transmission wheel 34, a transmission belt 35 and a driven wheel 37. The main motor 22 is fixedly connected in the fixed block 4, and the output end of the main motor 22 is fixedly connected to the threaded rod 23. A rotating groove 21 corresponding to the position of the threaded rod 23 is opened in the connecting block 5. The end of the threaded rod 23 away from the main motor 22 is threadedly connected to the main gear 24, and one side of the main gear 24 is fixedly connected to the connecting pipe 25. The side of the connecting pipe 25 away from the main gear 24 is fixedly connected to the limit gear 26, and the connecting pipe 25 and the limit The position gears 26 are all threadedly connected to the threaded rod 23, the inner wall of the rotating groove 21 is connected to the limiting assembly, and the connecting block 5 is rotatably connected with the No. 1 gear 31, the No. 2 gear 32 and the No. 3 gear 33. The No. 1 gear 31, the No. 2 gear 32 and the No. 3 gear 33 are rotationally staggered along the threaded rod 23, and the No. 1 gear 31, the No. 2 gear 32 and the No. 3 gear 33 all correspond to the outer wall position of the main gear 24. One end of the moving rod 9 is rotatably connected with a driven wheel 37, the driven wheel 37 is meshed with the No. 1 gear 31, the No. 2 gear 32 is meshed with the outer wall of the driving wheel 20, and the No. 3 gear 33 and one end of the rotating shaft of the winding roller 15 are fixedly connected with a transmission wheel 34, and the two transmission wheels 34 are connected by a transmission belt 35.

[0041] Specifically, when the clamping assembly is running, the No. 1 gear 31 will mesh with the main gear 24, and the No. 2 gear 32 will separate from the No. 3 gear 33 and the main gear 24. At this time, the main motor 22 will drive the main gear 24 to rotate through the threaded rod 23, and then drive the driven wheel 37 and the moving rod 9 to rotate, so as to realize the clamping operation of the clamping assembly; when the pressing assembly needs to be operated, the limit assembly will be engaged with the limit gear 26. At this time, the main motor 22 drives the threaded rod 23 to rotate, and the limit gear 26, the connecting tube 25 and the main gear 24 cannot rotate due to the obstruction of the limit assembly. Therefore, the limit gear 26, the connecting tube 25 and the main gear 24 will move along the axis of the threaded rod 23. The main gear 24 is disengaged from the No. 1 gear 31 and meshed with the No. 2 gear 32. The limiting assembly is then separated, and the main motor 22 can drive the No. 2 gear 32 to rotate through the threaded rod 23 and the main gear 24, thereby driving the driving wheel 20 to rotate, thereby realizing the extension and retraction operation of the pressing rod 19. When the cleaning assembly is needed, the limiting assembly is engaged with the limiting gear 26, so that the main gear 24 is separated from the No. 2 gear 32 and meshed with the No. 3 gear 33. The limiting assembly is then opened, and the No. 3 gear 33 rotates, thereby driving the winding roller 15 to rotate through the transmission wheel 34 and the transmission belt 35, thereby realizing the movement of the cleaning belt 16 to realize the cleaning function.

[0042] As a preferred technical solution of the present invention, the limiting assembly includes a sliding plate 28, a clamping plate 29 and a micro electric push rod 30. A sliding groove 27 is opened on the inner wall of the rotating groove 21. The sliding groove 27 is slidably connected with the sliding plate 28. The sliding groove 27 is fixedly connected with the micro electric push rod 30. The output end of the micro electric push rod 30 is fixedly connected to one side of the sliding plate 28. The other side of the sliding plate 28 is fixedly connected with the clamping plate 29. The clamping plate 29 corresponds to the position of the limiting gear 26.

[0043] Specifically, when the main gear 24 needs to change position to achieve function switching, the micro electric push rod 30 will push the sliding plate 28 to move, so that the clamping plate 29 is clamped with the limit gear 26, thereby preventing the limit gear 26, the connecting tube 25 and the main gear 24 from rotating, thereby realizing the movement of the main gear 24 on the threaded rod 23 and realizing the switching of the robot arm function.

[0044] It should be noted that a telescopic rod with a small stroke can be provided between the micro electric push rod 30 and the sliding plate 28 to avoid a small probability of failure to engage between the engaging plate 29 and the limiting gear 26 .

[0045] As a preferred technical solution of the present invention, a torsion spring 38 is sleeved on the outer wall of the rotating rod 11, and the torsion spring 38 is fixedly connected to the clamping plate 12. Two symmetrically arranged baffles 36 are fixedly connected to the side of the connecting block 5 close to the clamping groove 7, and the side of the baffle 36 close to the clamping plate 12 is an arc surface.

[0046] Specifically, when the clamping assembly is not needed, the moving rod 9 rotates in the opposite direction to separate the two clamping plates 12. As the moving block 10 moves, the curved surface of the baffle 36 will squeeze the clamping plates 12, causing the two clamping plates 12 to rotate toward the middle until the two clamping plates 12 enter the clamping groove 7, thereby realizing the storage of the clamping plates 12 and preventing foreign matter from entering the moving groove 8 when the clamping assembly is not in use; when the clamping plate 12 is needed, as the moving block 10 moves, the torsion spring 38 will pop out the clamping plate 12 to ensure that the clamping plate 12 stably clamps the object.

[0047] As a preferred technical solution of the present invention, a wear-resistant layer 13 is fixedly connected to one side of the clamping plate 12 .

[0048] Specifically, the presence of the wear-resistant layer 13 enhances the wear resistance and durability of the clamping plate 12. During the clamping process, the wear-resistant layer 13 can directly contact the clamped object, reducing the wear of the clamping plate 12 and extending its service life. At the same time, the wear-resistant layer 13 can also provide better clamping stability and reliability, ensuring that the clamping plate 12 can stably clamp the object without slipping or being damaged.

[0049] The present invention further provides an inspection robot, comprising a robot body 1 , wherein the robot body 1 comprises any one of the above-mentioned mechanical arm structures, and the lower end of the mechanical arm body 2 is fixedly connected to the robot body 1 .

[0050] Specifically, since the robotic arm structure according to the embodiment of the present invention has the above-mentioned technical effects, the robot body 1 according to the embodiment of the present invention should also have corresponding technical effects, that is, the robot body 1 of the present invention adopts the robotic arm structure so that the inspection robot has multiple functions. In the face of different inspection scenarios, it can easily expand or adjust functions and perform a variety of complex inspection tasks, thereby realizing the diversification of the robotic arm functions and the flexibility of operation.

[0051] Of course, for those skilled in the art, other structures of the robot body 1 and its working principles can be understood and implemented, and will not be described in detail in the present invention.

[0052] Although embodiments of the present invention have been shown and described, it will be appreciated by those skilled in the art that various changes, modifications, substitutions and variations may be made to the embodiments without departing from the principles and spirit of the present invention, and that the scope of the present invention is defined by the appended claims and their equivalents.

Claims

1. A robot arm structure, comprising a robot arm body (2), characterized in that: The top of the mechanical arm body (2) is fixedly connected to a rotating block (3), a rotating motor (6) is fixedly connected inside the rotating block (3), an output end of the rotating motor (6) is fixedly connected to a fixed block (4), a side of the fixed block (4) away from the rotating motor (6) is fixedly connected to a connecting block (5), the connecting block (5) has a triangular cross-section, a clamping component, a cleaning component and a pressing component are connected to the outer wall of the connecting block (5), and a driving component is connected inside the connecting block (5).

2. A mechanical arm structure according to claim 1, characterized in that: The clamping assembly comprises a moving rod (9), a moving block (10), a rotating rod (11) and a clamping plate (12); a clamping groove (7) is provided on one side of the outer wall of the connecting block (5); a moving groove (8) is provided on the inner side of the clamping groove (7); a moving rod (9) is rotatably connected in the moving groove (8); two symmetrically arranged moving blocks (10) are threadedly connected to the outer wall of the moving rod (9); the moving block (10) is slidably connected to the clamping groove (7); a rotating rod (11) is fixedly connected to one side of the moving block (10); a clamping plate (12) is rotatably connected to the outer wall of the rotating rod (11); and one end of the moving rod (9) is connected to the driving assembly.

3. A mechanical arm structure according to claim 2, characterized in that: The cleaning component comprises a winding roller (15), a cleaning belt (16) and a coil spring (17); one side of the outer wall of the connecting block (5) is provided with two symmetrically arranged winding grooves (14); the winding roller (15) is rotatably connected in the winding groove (14); both ends of the cleaning belt (16) are wound around the outer wall of the winding roller (15); the cleaning belt (16) is fitted with the outer wall of the connecting block (5); one end of one of the winding rollers (15) is fixedly connected with a coil spring (17); the coil spring (17) is fixedly connected to the inside of the connecting block (5); one end of the other winding roller (15) is connected to the driving component.

4. A mechanical arm structure according to claim 3, characterized in that: The pressing assembly comprises a pressing rod (19) and a driving wheel (20); a telescopic groove (18) is provided on one side of the connecting block (5); a pressing rod (19) is slidably connected in the telescopic groove (18); a driving wheel (20) is threadedly connected to the middle of the pressing rod (19); the driving wheel (20) is rotatably connected to the connecting block (5); and an outer wall of the driving wheel (20) is connected to the driving assembly.

5. A mechanical arm structure according to claim 4, characterized in that: The driving assembly comprises a main motor (22), a threaded rod (23), a main gear (24), a connecting pipe (25), a limit gear (26), a first gear (31), a second gear (32), a third gear (33), a transmission wheel (34), a transmission belt (35) and a driven wheel (37); the main motor (22) is fixedly connected in the fixing block (4); the output end of the main motor (22) is fixedly connected to the threaded rod (23); a rotation groove (21) corresponding to the position of the threaded rod (23) is provided in the connecting block (5); one end of the threaded rod (23) away from the main motor (22) is threadedly connected to the main gear (24); one side of the main gear (24) is fixedly connected to the connecting pipe (25); the side of the connecting pipe (25) away from the main gear (24) is fixedly connected to the limit gear (26); the connecting pipe (25) and the limit gear (26) are connected to each other. ) are all threadedly connected with the threaded rod (23), the inner wall of the rotating groove (21) is connected with a limiting assembly, and the connecting block (5) is rotatably connected with a first gear (31), a second gear (32) and a third gear (33), and the first gear (31), the second gear (32) and the third gear (33) are arranged to rotate and stagger along the threaded rod (23), and the first gear (31), the second gear (32) and the third gear (33) are all corresponding to the outer wall position of the main gear (24), and one end of the moving rod (9) is rotatably connected with a driven wheel (37), the driven wheel (37) is meshed with the first gear (31), and the second gear (32) is meshed with the outer wall of the driving wheel (20), and the third gear (33) and one end of the rotating shaft of the winding roller (15) are fixedly connected with a transmission wheel (34), and the two transmission wheels (34) are connected by a transmission belt (35).

6. A mechanical arm structure according to claim 5, characterized in that: The position limiting assembly comprises a sliding plate (28), a clamping plate (29) and a micro electric push rod (30); a sliding groove (27) is provided on the inner wall of the rotating groove (21); a sliding plate (28) is slidably connected in the sliding groove (27); a micro electric push rod (30) is fixedly connected in the sliding groove (27); an output end of the micro electric push rod (30) is fixedly connected to one side of the sliding plate (28); a clamping plate (29) is fixedly connected to the other side of the sliding plate (28); and the clamping plate (29) corresponds to the position of the position limiting gear (26).

7. A mechanical arm structure according to claim 2, 3, 4, 5 or 6, characterized in that: The outer wall of the rotating rod (11) is sleeved with a torsion spring (38), which is fixedly connected to the clamping plate (12). The side of the connecting block (5) close to the clamping groove (7) is fixedly connected to two symmetrically arranged baffles (36), and the side of the baffles (36) close to the clamping plate (12) is an arc surface.

8. A mechanical arm structure according to claim 2, 3, 4, 5 or 6, characterized in that: A wear-resistant layer (13) is fixedly connected to one side of the clamping plate (12).

9. A patrol robot, comprising a robot body (1), characterized in that: The robot body (1) comprises the robotic arm structure described in any one of claims 1 to 8, and the lower end of the robotic arm body (2) is fixedly connected to the robot body (1).

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