Mechanical arm

Abstract

The invention discloses a mechanical arm which comprises a mechanical arm body, the mechanical arm body comprises a first large arm and a second large arm arranged on the first large arm, a grabbing component is arranged on the first large arm, a connecting component is arranged between the first large arm and the grabbing component, and a control piece is arranged on the connecting component; the angle transformation assembly comprises a first joint arranged on the first large arm, a rotating shaft body arranged on the first joint and a matching shaft body arranged on the second large arm and connected with the rotating shaft body, and rotating pieces are arranged on the first large arm and the second large arm; and the wiring assemblies are arranged in the first large arm and the second large arm, and by means of action cooperation of the control piece and the different elastic components, extending of different grabbing fingers is achieved, so that the fingers of the mechanical arm form different grabbing states, and the grabbing shape more fitting the human hand is achieved.

Description

Technical Field

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

[0002] The robot arm is a complex system with high precision, multiple inputs and multiple outputs, high nonlinearity, and strong coupling. Due to its unique operational flexibility, it has been widely used in industrial assembly, safety and explosion-proof and other fields. The robot arm is a complex system with uncertainties such as parameter perturbation, external interference, and unmodeled dynamics. Therefore, the modeling model of the robot arm also has uncertainties. For different tasks, it is necessary to plan the motion trajectory of the robot arm joint space, so as to cascade and form the terminal posture.

[0003] A robot arm is a programmable mechanical arm that has functions similar to a human arm. The robot arm can be a complete mechanical device or part of a more complex robot. This manipulator is connected by joints so that it can perform rotational motion (such as in an articulated robot) or translational (linear) motion. The connection of the manipulator through various joints ultimately forms a kinematic chain. The end of the robot's kinematic chain is called the end effector, which is similar to a human hand.

[0004] Robotic arms are mainly used in the manufacturing process, and more and more robotic arms are used in people's daily life. The existing simulation robotic arms have a single movement mode and poor practicality. Summary of the invention

[0005] The purpose of this section is to summarize some aspects of embodiments of the present invention and briefly introduce some preferred embodiments. Some simplifications or omissions may be made in this section and the specification abstract and the invention title of this application to avoid blurring the purpose of this section, the specification abstract and the invention title, and such simplifications or omissions cannot be used to limit the scope of the present invention.

[0006] In view of the above-mentioned problems existing in the existing robotic arms, the present invention is proposed.

[0007] Therefore, an object of the present invention is to provide a robotic arm.

[0008] To solve the above technical problems, the present invention provides the following technical solutions: a robotic arm, comprising: a robotic arm main body, including a first arm and a second arm arranged on the first arm, a grabbing component is provided on the first arm, a connecting component is provided between the first arm and the grabbing component, and a control component is provided on the connecting component; an angle conversion component, including a first joint arranged on the first arm, a rotating shaft arranged on the first joint, and a mating shaft connected to the rotating shaft arranged on the second arm, and a rotating part is provided on the first arm and the second arm; and a wiring assembly, which is arranged in the first arm and the second arm.

[0009] As a preferred solution of the mechanical arm of the present invention, the first large arm is rotatably connected to the second large arm, the connecting component includes a first rotating plate arranged on the first large arm, a rotating cylinder rotatably connected to the first rotating plate, and a joint plate arranged at an end of the rotating cylinder away from the first rotating plate, a plurality of wiring grooves are opened on the rotating cylinder, and the control member is arranged between the rotating cylinder and the wiring grooves.

[0010] A hinged plate is arranged at the lower end of the first rotating plate, and a bottom plate hinged to the hinged plate is arranged on the first large arm.

[0011] As a preferred solution of the robotic arm described in the present invention, the control component includes a rotating locking cylinder arranged on a rotating cylinder, a driving cylinder arranged in the rotating locking cylinder, an intermediate rod rotatably connected to the driving cylinder, a baffle rod hinged on the intermediate rod, and a base plate arranged at the rear end of the rotating locking cylinder, a plurality of intermediate rods are provided, and two are in a group, hinged between the baffle rod and the driving cylinder, a radial groove is provided on the base plate, a slide plate cooperating with the radial groove is provided at the end of the baffle rod, a clutch component is provided between the slide plate and the radial groove, and the driving cylinder is slidingly connected to the base plate.

[0012] As a preferred solution of the robotic arm described in the present invention, the clutch component includes a chuck arranged on the base plate, a corresponding rod arranged on the chuck, an ejection component arranged on the corresponding rod, an ejection pin arranged on the ejection component, and an elastic rope arranged between the ejection pin and the corresponding rod, the corresponding rod corresponds to each slide, and the slide is provided with a matching buckle that cooperates with the ejection pin.

[0013] As a preferred solution of the mechanical arm described in the present invention, the ejection component includes a slot arranged on the corresponding rod, a push-out plate arranged in the slot, an elastic baffle arranged in the slot, a flange arranged on the elastic baffle, a groove provided on the push-out plate and cooperating with the flange, and a spring arranged between the push-out baffle and the slot, the spring is connected to the push-out baffle, and the other end abuts against the side wall of the slot, the elastic baffles are arranged on both sides of the push-out plate, and protruding blocks are arranged at the rear ends of the two elastic baffles.

[0014] As a preferred solution of the robotic arm described in the present invention, wherein: a rotating disk is arranged near the protruding block in the slot, a winding drum is coaxially arranged on the rotating disk, a mating protruding block cooperating with the protruding block is arranged on the side wall of the rotating disk, a rotating shaft is arranged on the elastic baffle, a torsion spring is arranged on the rotating shaft, a stepping motor is arranged at the lower end of the rotating disk, and the elastic rope is wound around the winding drum.

[0015] As a preferred solution of the robotic arm described in the present invention, wherein: the grasping component includes a plurality of mounting grooves arranged on the first large arm, grasping fingers arranged in the mounting grooves, a baffle arranged at the end of the grasping fingers, and a linkage arranged between the baffle and the baffle rod; the grasping fingers include a plurality of finger segments, a plurality of sensors arranged on the finger segments, and hinge points arranged between the finger segments, and each of the hinge points is provided with a micro-electronically controlled motor.

[0016] As a preferred solution of the robotic arm described in the present invention, the linkage part includes a first connecting plate arranged on the baffle, a sliding groove opened on the first connecting plate, a sliding rod arranged on the side wall of the mounting groove, and a plurality of bayonet holes arranged in the sliding groove, and the front end of the sliding rod is slidably connected to a pneumatic locking rod, and the pneumatic locking rod is plugged into the bayonet after sliding.

[0017] As a preferred solution of the robotic arm described in the present invention, wherein: the driving cylinder includes a main body cylinder, an outer arc cylinder arranged on the main body cylinder, and a plurality of guide grooves arranged on the outer arc cylinder, the arc surface of the outer arc cylinder includes a first gentle slope, a second gentle slope connected to the first gentle slope, and a covering slope connecting the first gentle slope and the second gentle slope, and the curvature of the first gentle slope is smaller than the curvature of the second gentle slope.

[0018] As a preferred solution of the robotic arm described in the present invention, the wiring assembly includes a plurality of grooves along the path arranged in the first large arm and the second large arm, a plurality of buckles are arranged in the grooves along the path, and a flexible tape for locking the line is arranged in the buckles.

[0019] The beneficial effects of the present invention are as follows: when using the robotic arm, the operator moves the ejection pin by means of different ejection components on the chuck, and uses the control component to slide the driving cylinder inside the control component toward the bottom plate, so that the intermediate rod rotates, thereby driving the blocking rod to move from a position close to the driving cylinder to a position far away from the driving cylinder, and according to the distance of the moving position of the blocking rod, different grasping fingers can be extended to different degrees.

[0020] In the initial state, the spring is in a compressed state, and the cooperating protrusion block abuts against the protrusion block and pushes the elastic baffle, so that the flange of the elastic baffle is stuck in the groove, limiting the elastic card pin. When the position of the slide plate needs to be fixed, the stepper motor drives the rotating disk to rotate, so that the rotating disk rotates, thereby causing the flange to pop out of the groove. At this time, the elastic card pin pops outward under the action of the rear end spring, thereby locking the current grasping finger position.

[0021] When unlocking, the winding drum is rotated in the reverse direction, so that the winding drum drives the elastic rope to pull in the reverse direction, thereby pulling the card needle, so that the card needle returns to its original position, and then the extended position of the grabbing finger can be adjusted.

[0022] Then, by utilizing the coordinated actions of the control member and different elastic components, different grasping fingers can be extended, so that the fingers of the robotic arm form different grasping states, thereby achieving a grasping shape that better fits the human hand. BRIEF DESCRIPTION OF THE DRAWINGS

[0023] In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the following briefly introduces the drawings required for describing the embodiments. Obviously, the drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without creative labor. Among them:

[0024] Figure 1 It is a schematic diagram of the overall structure of the robotic arm of the present invention.

[0025] Figure 2 It is a schematic cross-sectional view of the overall structure of the robotic arm of the present invention.

[0026] Figure 3 It is a schematic diagram of the front end structure of the first large arm of the robot arm of the present invention.

[0027] Figure 4 It is a schematic diagram of the grasping component of the robot arm of the present invention.

[0028] Figure 5 For the robot arm of the present invention Figure 4 Enlarged schematic diagram of part A in the middle.

[0029] Figure 6 It is a schematic front view of the bottom plate of the robot arm of the present invention.

[0030] Figure 7 It is a schematic cross-sectional view of the internal structure of the driving cylinder of the robot arm of the present invention.

[0031] Figure 8 It is a schematic diagram of the structure of the gripping finger end of the robot arm of the present invention. DETAILED DESCRIPTION

[0032] In order to make the above-mentioned objects, features and advantages of the present invention more obvious and easy to understand, the specific implementation methods of the present invention are described in detail below in conjunction with the accompanying drawings.

[0033] In the following description, many specific details are set forth to facilitate a full understanding of the present invention, but the present invention may also be implemented in other ways different from those described herein, and those skilled in the art may make similar generalizations without violating the connotation of the present invention. Therefore, the present invention is not limited to the specific embodiments disclosed below.

[0034] Secondly, the term "one embodiment" or "embodiment" as used herein refers to a specific feature, structure, or characteristic that may be included in at least one implementation of the present invention. The term "in one embodiment" that appears in different places in this specification does not necessarily refer to the same embodiment, nor does it refer to a separate or selective embodiment that is mutually exclusive with other embodiments.

[0035] Secondly, the present invention is described in detail with reference to the schematic diagram. When describing the embodiments of the present invention in detail, for the sake of convenience, the cross-sectional diagrams showing the device structure will not be partially enlarged according to the general scale, and the schematic diagrams are only examples, which should not limit the scope of protection of the present invention. In addition, in actual production, the three-dimensional dimensions of length, width and depth should be included.

[0036] Example 1

[0037] Reference Figure 1-Figure 8 , which is the first embodiment of the present invention, provides a robot arm, including a robot arm body 100, including a first arm 101 and a second arm 102 arranged on the first arm 101, the second arm 102 is located at the lower end of the first arm 101, and a base is arranged at the lower end of the second arm 102, the base is used to support the entire robot arm, and is used to be installed next to a production line or processing equipment where it is required to be installed, and the first arm 101 and the second arm 102 can rotate with each other, a grabbing component 103 is arranged on the front end of the first arm 101, and the grabbing component 103 is used to grab objects for transportation or installation, a connecting component 104 is arranged between the first arm 101 and the grabbing component 103, and a control component 105 is arranged on the connecting component 104, the connecting component 104 is a structure for connecting the first arm 101 with the grabbing component 103, and the control component 105 controls the operation of the connecting component 104.

[0038] Furthermore, the present invention also includes an angle conversion component 200. In the present embodiment, the angle conversion component 200 includes a first joint 201 arranged on the first arm 101, a rotating shaft 202 arranged on the first joint 201, and a mating shaft 203 arranged on the second arm 102 and connected to the rotating shaft 202. The rotating shaft 202 and the mating shaft 203 are rotatably connected, and a connecting shaft is arranged therebetween. A rotating member 204 is arranged on the first arm 101 and the second arm 102. The rotating member 204 is arranged at the lower end of the first joint 201, and a support plate is arranged at the lower end of the first joint 201. A motor is arranged on the support plate, and the motor can drive the support plate to rotate, thereby making the first arm 101 rotate longitudinally and axially.

[0039] Furthermore, the present invention also includes a wiring assembly, which is disposed in the first arm 101 and the second arm 102 .

[0040] Further, in this embodiment, the connecting component 104 includes a first rotating plate 104a arranged on the first large arm 101, a rotating cylinder 104b rotatably connected to the first rotating plate 104a, and a joint plate 104c arranged at one end of the rotating cylinder 104b away from the first rotating plate 104a, the first rotating plate 104a is connected to the end of the first large arm 101 by bolts, and the rotating plane of the rotating cylinder 104b is parallel to the plane of the first rotating plate 104a, and a plurality of wiring grooves 104d are opened on the rotating cylinder 104b, and the wiring grooves 104d open the side wall of the rotating cylinder 104b, and four wiring grooves 104d are opened, and the control member 105 is arranged between the rotating cylinder 104b and the wiring grooves 104d.

[0041] Preferably, a hinged plate is provided at the lower end of the first rotating plate 104a, and a bottom plate 105e hinged to the hinged plate is provided on the first large arm 101.

[0042] Furthermore, in the present embodiment, the control member 105 includes a rotating locking cylinder 105a arranged in the rotating cylinder 104b, a driving cylinder 105b connected to the end of the rotating locking cylinder 105a, an intermediate rod 105c rotatably connected to the side wall of the driving cylinder 105b, a blocking rod 105d hinged on the intermediate rod 105c, and a base plate 105e arranged at the rear end of the rotating locking cylinder 105a. The rotating locking cylinder 105a is arranged inside the rotating cylinder 104b, and a plurality of intermediate rods 105c are arranged, and two are in a group. The intermediate rods 105c are hinged between the blocking rod 105d and the driving cylinder 105b, and the two intermediate rods 105c in each group are parallel to each other, and in the parallel state, the two intermediate rods 105c are hinged to the blocking rod 105d.

[0043] Furthermore, a radial groove 106 is provided on the bottom plate 105e. The bottom plate 105e is in the shape of a circular plate. A number of long plates extend outward from the side wall of the bottom plate 105e. The radial groove 106 is provided on the long plate, and a slide plate 107 cooperating with the radial groove 106 is provided at the end of the blocking rod 105d. A clutch component 300 is provided between the slide plate 107 and the radial groove 106. The driving cylinder 105b is slidably connected to the bottom plate 105e. In order to enable the slidable connection, an intermediate column 105f is provided on the bottom plate 105e, and the driving cylinder 105b is sleeved on the intermediate column 105f, and a cylinder is provided between the driving cylinder 105b and the bottom plate 105e.

[0044] Furthermore, in this embodiment, the clutch component 300 includes a chuck 301 arranged on the base plate 105e, a corresponding rod 302 arranged on the chuck 301, an ejection component 400 arranged on the corresponding rod 302, an ejection pin 303 arranged on the ejection component 400, and an elastic rope 304 arranged between the ejection pin 303 and the corresponding rod 302. The number of corresponding rods 302 corresponds to the number of blocking rods 105d, and the direction of the corresponding rod 302 is directly opposite to each slide plate 107. A matching bayonet 604 that cooperates with the ejection pin 303 is opened on the slide plate 107, and a plurality of micro-protrusions are arranged on the inner wall of the matching buckle 305. When the ejection pin 303 is inserted into the bayonet 604, it is clamped in the bayonet 604, and the ejection pin 303 is locked by the micro-protrusions.

[0045] Furthermore, in the present embodiment, the ejection component 400 includes a card slot 401 arranged on the corresponding rod 302, an ejection plate 402 arranged in the card slot 401, an elastic baffle 403 arranged in the card slot 401, a flange 404 arranged on the elastic baffle 403, a groove 405 provided on the ejection plate 402 and cooperating with the flange 404, and a spring 406 provided between the ejection baffle 103c and the card slot 401. The card slot 401 is provided along the length direction of the corresponding rod 302, the ejection plate is provided at the rear end of the ejection card pin 303 and is bolted to the ejection card pin 303, and the rear end of the ejection plate 402 is connected to the spring 406, and the other end of the spring 406 abuts against the side wall of the card slot 401, the elastic baffle 403 is provided on both sides of the ejection plate 402, and a protruding block 407 is provided at the rear end of the two elastic baffles 403.

[0046] Further, a rotating disk 500 is provided near the protruding block 407 in the slot 401, a winding drum 501 is coaxially provided on the rotating disk 500, a mating protruding block 502 mating with the protruding block 407 is provided on the side wall of the rotating disk 500, a rotating shaft 503 is provided on the elastic baffle 403, a torsion spring 504 is provided on the rotating shaft 503, a stepping motor is provided at the lower end of the rotating disk 500, and the elastic rope 304 is wound around the winding drum 501. In the initial state, The spring 406 is in a compressed state, and cooperates with the protruding block 502 to abut against the protruding block 407, and pushes the elastic baffle 403, so that the flange 404 of the elastic baffle 403 is stuck in the groove 405, limiting the elastic card pin. When it is necessary to fix the position of the slide plate 107, the stepper motor drives the rotating disk 500 to rotate, so that the rotating disk 500 rotates, thereby causing the flange 404 to pop out from the groove 405. At this time, the elastic card pin pops out outward under the action of the rear end spring 406.

[0047] Furthermore, the grasping component 103 includes a plurality of mounting grooves 103a arranged on the first arm 101, grasping fingers 103b arranged in the mounting grooves 103a, a baffle 103c arranged at the end of the grasping finger 103b, and a linkage member 600 arranged between the baffle 103c and the baffle rod 105d. The number of mounting grooves 103a corresponds to the number of baffle rods 105d, and the position also corresponds to the position of the baffle rod 105d. Preferably, the number of mounting grooves 103a and grasping fingers 103b is 5. In the present embodiment, the grasping fingers 103b include a plurality of finger segments 103d, a plurality of sensors 103e arranged on the finger segments 103d, and hinge points arranged between the finger segments 103d, and each hinge point is provided with a micro-electronically controlled motor.

[0048] Furthermore, the linkage 600 includes a first connecting plate 601 arranged on the baffle 103c, a sliding groove 602 opened on the first connecting plate 601, a sliding rod 603 arranged on the side wall of the installation groove 103a, and a plurality of bayonet holes 604 arranged in the sliding groove 602. A pneumatic locking rod 605 is slidingly connected to the front end of the sliding rod 603, and the pneumatic locking rod 605 is plugged into the bayonet hole 604 after sliding.

[0049] Furthermore, in the present embodiment, the driving cylinder 105b includes a main body cylinder, an outer arc cylinder 606 arranged on the main body cylinder, and a plurality of guide grooves 607 arranged on the outer arc cylinder 606, and the arc surface of the outer arc cylinder 606 includes a first gentle slope 606a, a second gentle slope 606b connected to the first gentle slope 606a, and a covering slope 606c connecting the first gentle slope 606a and the second gentle slope 606b, and the curvature of the first gentle slope 606a is smaller than the curvature of the second gentle slope 606b.

[0050] In this embodiment, the wiring assembly includes a plurality of grooves 607 arranged along the route in the first large arm 101 and the second large arm 102. A plurality of buckles are arranged in the grooves 607 along the route, and a flexible tape for locking the line is arranged in the buckles.

[0051] Operation process: When using the robotic arm, the operator moves the ejection pin 303 by adjusting different ejection components 400 on the chuck 301, and uses the control component 105 to slide the driving cylinder 105b in the control component 105 toward the bottom plate 105e, so that the intermediate rod 105c rotates, thereby driving the blocking rod 105d to move from a position close to the driving cylinder 105b to a position far away from the driving cylinder 105b, and according to the distance of the moving position of the blocking rod 105d, different grasping fingers 103b can be extended to different degrees.

[0052] In the initial state, the spring 406 is in a compressed state, and the cooperating protrusion block 502 abuts against the protrusion block 407, and pushes the elastic baffle 403, so that the flange 404 of the elastic baffle 403 is stuck in the groove 405, limiting the elastic card pin. When it is necessary to fix the position of the slide plate 107, the stepper motor drives the rotating disk 500 to rotate, so that the rotating disk 500 rotates, thereby causing the flange 404 to pop out of the groove 405. At this time, the elastic card pin pops outward under the action of the rear end spring 406, thereby locking the current position of the grasping finger 103b.

[0053] When unlocking, the winding drum 501 is rotated in the reverse direction, so that the winding drum 501 drives the elastic rope 304 to pull in the reverse direction, thereby pulling the card needle, so that the card needle returns to its original position, and then the extended position of the grabbing finger 103b can be adjusted.

[0054] Then, by utilizing the coordinated actions of the control member 105 and different elastic components, different grasping fingers 103b can be extended, so that the fingers of the robot arm form different grasping states, thereby achieving a grasping shape that better fits a human hand.

[0055] Importantly, it should be noted that the construction and arrangement of the present application shown in a plurality of different exemplary embodiments are only exemplary. Although only a few embodiments are described in detail in this disclosure, it should be readily understood by those who refer to this disclosure that many modifications are possible (e.g., the size, scale, structure, shape and proportion of various elements, and parameter values ​​(e.g., temperature, pressure, etc.), installation arrangement, use of materials, color, directional changes, etc.) without substantially departing from the novel teachings and advantages of the subject matter described in the application. For example, the element shown as integrally formed can be composed of multiple parts or elements, the position of the element can be inverted or otherwise changed, and the nature or number or position of the discrete element can be changed or changed. Therefore, all such modifications are intended to be included in the scope of the present invention. The order or sequence of any process or method steps can be changed or reordered according to alternative embodiments. In the claims, any "device plus function" clause is intended to cover the structure of performing the function described herein, and is not only structurally equivalent but also equivalent structure. Without departing from the scope of the present invention, other replacements, modifications, changes and omissions can be made in the design, operating conditions and arrangement of the exemplary embodiments. Therefore, the invention is not limited to a specific embodiment, but extends to numerous modifications still falling within the scope of the appended claims.

[0056] Additionally, in order to provide a concise description of exemplary embodiments, all features of an actual embodiment (ie, those features that are not relevant to the best mode presently contemplated for carrying out the invention or those that are not relevant to implementing the invention) may not be described.

[0057] It will be appreciated that in the development of any actual implementation, as in any engineering or design project, numerous implementation-specific decisions may be made. Such a development effort may be complex and time-consuming, but will be a routine task of design, fabrication, and production for those of ordinary skill having the benefit of this disclosure without undue experimentation.

[0058] It should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention rather than to limit it. Although the present invention has been described in detail with reference to the preferred embodiments, those skilled in the art should understand that the technical solutions of the present invention may be modified or replaced by equivalents without departing from the spirit and scope of the technical solutions of the present invention, which should all be included in the scope of the claims of the present invention.

Claims

1. A robotic arm, characterized in that: include, A mechanical arm body (100) comprises a first large arm (101) and a second large arm (102) arranged on the first large arm (101), wherein the first large arm (101) is provided with a grasping component (103), a connecting component (104) is provided between the first large arm (101) and the grasping component (103), and a control component (105) is provided on the connecting component (104); The angle conversion assembly (200) comprises a first joint (201) arranged on a first large arm (101), a rotating shaft (202) arranged on the first joint (201), and a matching shaft (203) arranged on a second large arm (102) and connected to the rotating shaft (202), wherein the first large arm (101) and the second large arm (102) are provided with a rotating member (204); and A wiring assembly is arranged in the first large arm (101) and the second large arm (102).

2. The robotic arm according to claim 1, characterized in that: The first large arm (101) is rotatably connected to the second large arm (102), and the connecting component (104) includes a first rotating plate (104a) arranged on the first large arm (101), a rotating cylinder (104b) rotatably connected to the first rotating plate (104a), and a joint plate (104c) arranged at one end of the rotating cylinder (104b) away from the first rotating plate (104a), and a plurality of wiring grooves (104d) are opened on the rotating cylinder (104b), and the control component (105) is arranged between the rotating cylinder (104b) and the wiring grooves (104d).

3. The robotic arm according to claim 2, characterized in that: The control member (105) comprises a rotation locking cylinder (105a) arranged on a rotating cylinder (104b), a driving cylinder (105b) arranged in the rotation locking cylinder (105a), an intermediate rod (105c) rotatably connected to the driving cylinder (105b), a blocking rod (105d) hinged on the intermediate rod (105c), and a bottom plate (105e) arranged at the rear end of the rotation locking cylinder (105a), wherein the intermediate rod (105c) is arranged There are several of them, and two of them form a group, which are hinged between the blocking rod (105d) and the driving cylinder (105b). A radial groove (106) is opened on the bottom plate (105e). A slide plate (107) matching with the radial groove (106) is arranged at the end of the blocking rod (105d). A clutch component (300) is arranged between the slide plate (107) and the radial groove (106). The driving cylinder (105b) and the bottom plate (105e) are slidably connected.

4. The mechanical arm according to claim 3, characterized in that: The clutch component (300) comprises a chuck (301) arranged on a bottom plate (105e), a corresponding rod (302) arranged on the chuck (301), an ejection component (400) arranged on the corresponding rod (302), an ejection card pin (303) arranged on the ejection component (400), and an elastic rope (304) arranged between the ejection card pin (303) and the corresponding rod (302), wherein the corresponding rod (302) corresponds to each slide plate (107), and a matching buckle (305) matching with the ejection card pin (303) is provided on the slide plate (107).

5. The mechanical arm according to claim 4, characterized in that: The ejection component (400) comprises a slot (401) arranged on the corresponding rod (302), a push-out plate (402) arranged in the slot (401), an elastic baffle (403) arranged in the slot (401), a flange (404) arranged on the elastic baffle (403), a groove (405) provided on the push-out plate (402) and cooperating with the flange (404), and a spring (406) arranged between the push-out baffle (103c) and the slot (401); the spring (406) is connected to the push-out baffle (103c), and the other end abuts against the side wall of the slot (401); the elastic baffle (403) is arranged on both sides of the push-out plate (402), and the rear ends of the two elastic baffles (403) are provided with protruding blocks (407).

6. The mechanical arm according to claim 4, characterized in that: A rotating disk (500) is arranged near the protruding block (407) of the clamping slot (401), a winding drum (501) is coaxially arranged on the rotating disk (500), a matching protruding block (502) matching with the protruding block (407) is arranged on the side wall of the rotating disk (500), a rotating shaft (503) is arranged on the elastic baffle (403), a torsion spring (504) is arranged on the rotating shaft (503), a stepping motor is arranged at the lower end of the rotating disk (500), and the elastic rope (304) is wound on the winding drum (501).

7. The robotic arm according to claim 1, characterized in that: The grasping component (103) comprises a plurality of mounting grooves (103a) arranged on the first large arm (101), grasping fingers (103b) arranged in the mounting grooves (103a), a baffle (103c) arranged at the end of the grasping fingers (103b), and a linkage (600) arranged between the baffle (103c) and the baffle rod (105d); the grasping fingers (103b) comprise a plurality of finger segments (103d), a plurality of sensors (103e) arranged on the finger segments (103d), and hinge points arranged between the finger segments (103d); each of the hinge points is provided with a micro-electrically controlled motor.

8. The mechanical arm according to claim 7, characterized in that: The linkage member (600) comprises a first connecting plate (601) arranged on the baffle (103c), a sliding groove (602) provided on the first connecting plate (601), a sliding rod (603) arranged on the side wall of the installation groove (103a), and a plurality of bayonet holes (604) arranged in the sliding groove (602); the front end of the sliding rod (603) is slidably connected to a pneumatic locking rod (605), and the pneumatic locking rod (605) is plugged into the bayonet hole (604) after sliding.

9. The mechanical arm according to claim 3, characterized in that: The driving cylinder (105b) comprises a main body cylinder, an outer arc-shaped cylinder (606) arranged on the main body cylinder, and a plurality of guide grooves (607) arranged on the outer arc-shaped cylinder (606); the arc-shaped surface of the outer arc-shaped cylinder (606) comprises a first gentle slope (606a), a second gentle slope (606b) connected to the first gentle slope (606a), and a covering slope (606c) connecting the first gentle slope (606a) and the second gentle slope (606b); the curvature of the first gentle slope (606a) is smaller than the curvature of the second gentle slope (606b).

10. The mechanical arm according to claim 3, characterized in that: The wiring assembly comprises a plurality of grooves (607) arranged in the first arm (101) and the second arm (102) along the route, wherein a plurality of buckles are arranged in the grooves (607) along the route, and a flexible buckle for locking the line is arranged in the buckle.

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