Structure of mechanical arm under light weight and large load

Abstract

The invention discloses a light-weight large-load mechanical arm structure which comprises a robot body, a mechanical arm mechanism and a driving mechanism are arranged on the robot body, the mechanical arm mechanism comprises a mounting frame, a first joint motor is fixedly mounted on the upper side of the mounting frame, and a first mechanical arm is fixedly connected to the output end of the first joint motor. Manual work is replaced by the lightweight large-load bolt fastening robot, the robot integrates a four-degree-of-freedom mechanical arm and an efficient driving mechanism, fastening of bolts of different specifications can be completed autonomously, manual tower climbing operation is not needed, dependence on professionals is greatly reduced, and the difficulty that the personnel are insufficient is relieved; the driving concave wheel automatically moves along the wire, the limiting stopper and the driving wheel cooperate to guarantee stability, the mechanical arm cooperates to complete fastening operation, manual power generation is not needed in the whole process, workers are liberated from high-strength high-altitude operation, and the labor intensity is remarkably reduced.

Description

TECHNICAL FIELD

[0001] The present application relates to the field of robot structure design, in particular to a lightweight mechanical arm structure under heavy load. BACKGROUND

[0002] High-voltage transmission lines will be subjected to high altitude, high voltage, strong electromagnetic interference and other adverse operating environments during long-term network operation, which will cause the pollution and damage of the insulator string of the transmission line, the displacement and damage of the damper, the wire breakage, the wire dispersion, the wire warping, the loosening of the drainage plate bolt of the tension clamp, and other hidden dangers. The bolts and nuts of the tension tower wire side fittings, the cotter pin, and the loosening of the drainage plate bolt are common phenomena, and there is a risk of falling. The temperature rise caused by the loosening of the drainage plate bolt not only causes waste of electric energy, but also can even cause deformation and damage of the tension clamp, which seriously threatens the safe and stable operation of the transmission line. At present, the tightening of the transmission line bolts is basically completed by artificial live-line work.

[0003] The traditional tightening bolts are installed by artificial tower climbing, which may have the following defects: 1) the training and practical training period of high-quality live-line workers is long, and there is a serious shortage of live-line workers; 2) the labor intensity is high during tower climbing and equipotential work; 3) the risk to personal safety is high. SUMMARY

[0004] In order to solve the above technical problems, the present application provides a lightweight mechanical arm structure under heavy load.

[0005] The technical scheme adopted by the present application is as follows: A lightweight mechanical arm structure under heavy load, comprising a robot main body, a mechanical arm mechanism and a driving mechanism are arranged on the robot main body; the mechanical arm mechanism comprises a mounting frame, a first joint motor is fixedly installed on the upper side of the mounting frame, a first mechanical arm is fixedly connected to the output end of the first joint motor, a second joint motor is fixedly installed on the inner side of the first mechanical arm, and a second mechanical arm is fixedly connected to the output end of the second joint motor; the driving mechanism comprises a fixed frame, a walking motor is fixedly installed on one side of the fixed frame, a driving gear is fixedly connected to the output end of the walking motor, a chain is engaged with the outside of the driving gear, a driven gear is drivingly connected to the chain, driving shafts are fixedly connected to the two sides of the driven gear, and a driving recessed wheel is fixedly connected to one end of the driving shaft.

[0006] Further, the mounting frame is fixedly connected to the lower side of the robot main body, the fixed frame is fixedly installed on the bottom of the robot main body, and the driven gear is engaged with the chain.

[0007] Further, the first mechanical arm rotates around the Z axis through a first joint motor, and the second mechanical arm rotates around the Y axis through a second joint motor.

[0008] Further, one end of the mechanical arm mechanism is provided with an end operation mechanism, the end operation mechanism comprises a sliding guide, one side of the sliding guide is fixedly installed with a stepping motor, the output of the stepping motor is fixedly connected with a lead screw, the outside of the lead screw is provided with a moving block, and the upper end of the moving block is fixedly installed with an electric wrench.

[0009] Further, the lead screw and the moving block are arranged in the inside of the sliding guide, one end of the lead screw is rotatably connected with the sliding guide, and the lead screw is threadedly connected with the moving block.

[0010] Further, the upper side of the robot body is fixedly connected with a limiting frame through screws, and the surfaces of the two sides of the driving shaft are provided with clamping grooves, and the limiting frame is clamped in the inside of the clamping grooves.

[0011] Further, the limiting frame and the clamping groove are slidably connected, and the limiting frame is arranged at the four corner positions on the upper side of the robot body.

[0012] Further, one side of the robot body is fixedly connected with a setting frame, the two sides in the inside of the limiting frame are hingedly connected with limiting devices, one side of the limiting device is fixedly connected with a guide plate through screws, the bottom of the setting frame is fixedly installed with an electric push rod, and the electric push rod and the guide plate are hingedly arranged.

[0013] Further, the electric push rod is provided with two, and the electric push rods are installed and arranged to be inclined to the two sides at the bottom of the setting frame.

[0014] Further, the two sides of the lower side of the robot body are fixedly connected with clamping fixing frames, and the inner sides of the clamping fixing frames are fixedly clamped with protective plates through screws.

[0015] Compared with the prior art, the present application has the following advantages: 1) The present application replaces manual work with a lightweight large-load bolt fastening robot, the robot integrates a four-degree-of-freedom mechanical arm and a high-efficiency driving mechanism, and can autonomously complete fastening of M12-M24 bolts of different specifications without manual tower operation, greatly reducing the dependence on professional personnel and alleviating the shortage of personnel; 2) The robot of the present application moves along the wire automatically through the driving concave wheel, the limiting device cooperates with the driving wheel to ensure stability, and the mechanical arm completes the fastening operation, without manual force throughout the process, which liberates manual work from high-intensity high-altitude operation and significantly reduces labor intensity. BRIEF DESCRIPTION OF DRAWINGS

[0016] The present application will be further described below in combination with the drawings and specific embodiments: Figure 1 is a lightweight structure of a large load mechanical arm structure in the present application Figure 1 ; Figure 2 is a lightweight structure of a large load mechanical arm structure in the present application Figure 2 ; Figure 3 is a lightweight structure of a large load mechanical arm structure in the present application Figure 3 ; Figure 4 is a lightweight structure of a large load mechanical arm structure in the present application Figure 4 ; Figure 5 is a lightweight structure of a large load mechanical arm structure in the present application Figure 6 is a lightweight structure of a large load mechanical arm structure in the present application Figure 7 is a lightweight structure of a large load mechanical arm structure in the present application Figure 8 is a schematic diagram of the wiring principle in the present application.

[0017] In the figure: 1, robot main body; 101, mounting frame; 102, first joint motor; 103, first mechanical arm; 104, second joint motor; 105, second mechanical arm; 201, fixed frame; 202, walking motor; 203, driving gear; 204, chain; 205, driven gear; 206, drive shaft; 207, drive concave wheel; 301, sliding guide rail; 302, stepping motor; 303, screw; 304, moving block; 305, electric wrench; 401, limit frame; 402, clamping groove; 501, setting frame; 502, limiter; 503, guide plate; 504, electric push rod; 601, clamping fixed frame; 602, protective plate. DETAILED DESCRIPTION Example 1

[0018] As Figures 1 to 8As shown, a kind of lightweight structure of mechanical arm under heavy load, including robot main body 1, robot main body 1 is provided with mechanical arm mechanism and drive mechanism;Mechanical arm mechanism includes mounting bracket 101, the upper side of mounting bracket 101 is fixedly installed with first joint motor 102, the output of first joint motor 102 is fixedly connected with first mechanical arm 103, the inner side of first mechanical arm 103 is fixedly installed with second joint motor 104, the output of second joint motor 104 is fixedly connected with second mechanical arm 105;Drive mechanism includes fixed frame 201, one side of fixed frame 201 is fixedly installed with walking motor 202, the output of walking motor 202 is fixedly connected with driving gear 203, the outside of driving gear 203 is engaged with chain 204, driving gear 203 is drivenly connected with driven gear 205 by chain 204, the two sides of driven gear 205 are fixedly connected with drive shaft 206, one end of drive shaft 206 is fixedly connected with drive concave wheel 207;Mounting bracket 101 is fixedly connected on the lower side of robot main body 1, fixed frame 201 is fixedly installed at the bottom of robot main body 1, driven gear 205 is engaged with chain 204;First mechanical arm 103 rotates around Z axis by first joint motor 104, second mechanical arm 105 rotates around Y axis by second joint motor 104.

[0019] In the embodiment, driven gear 205 is provided with two, respectively set in the two edge positions in chain 204, walking motor 202 is set in the lower position in chain 204;By the setting of the engagement of driven gear 205 and chain 204, make walking motor 202 drive two driven gears 205 to rotate by driving gear 203 and chain 204, robot main body 1 walks on the guide wire in reverse;The direction of the rotation of first mechanical arm 103 and second mechanical arm 105, so that the mechanical arm mechanism can be flexibly adjusted and moved.

[0020] Specifically, the total length of the mechanical arm part is strictly controlled to be 1178mm, wherein the distance between the first joint motor 102 and the second joint motor 104 is 654mm, and the distance between the second joint motor 104 and the electric wrench 305 is 524mm. This size design not only ensures the operation coverage range, but also avoids the increase of self-weight and the decrease of stability caused by the overlong mechanical arm; the horizontal movement range is set to ±70°, and the vertical movement range is-60°~135°, which can completely cover the common distribution position of the bolt of the drainage plate of the strain clamp of the high-voltage transmission line; a four-degree-of-freedom mechanical arm module is adopted, which is composed of the first mechanical arm 103, the second mechanical arm 105 and 2 groups of rotary shaft joints, cooperates with the bolt wrench of the end rotary shaft joint to realize the fastening task, has a compact overall structure and a short transmission path, directly integrates the joints and the actuators to reduce the friction loss and the gap error in the traditional mechanical transmission, so that the repeat positioning accuracy of the mechanical arm reaches 1mm and the response speed is improved; meanwhile, the joint force control is supported, and the impact protection function is provided, so that when the mechanical arm collides with the wire, fittings and the like by accident, the action can be immediately stopped and fed back to the control system, so as to avoid the damage of the equipment and the safety hidden danger of the line; the end actuator adopts a quick release structure, which can complete the replacement of the electric wrench 305 and other operation tools such as detection probe within 5 minutes, and is suitable for diversified operation requirements such as bolt detection and cleaning; the core performance index of the driving mechanism is set around the high-voltage transmission line operation scene: the driving wheel structure is composed of a driving concave wheel 207, a limiter 502 and a gear and chain transmission module (namely a driving gear 203, a chain 204 and a driven gear 205); the driving wheel adopts a modified nylon material with high insulation and wear resistance, and anti-skid lines are arranged on the surface, the insulation performance reaches 10kV level, the wear resistance is more than 3 times of the ordinary rubber wheel, and can adapt to the working conditions such as the oxide layer and dirt on the wire surface; the limiter adopts a lower supporting type design, and is swung around the hinge point of the setting frame 501 through the extension of the electric push rod 504 to form an up-down clamping structure with the driving wheel from below, the clamping force can be adjusted in real time through the control system, which can balance the gravity center of the robot and reduce the vibration amplitude on the flexible wire to improve the operation stability; in the gear and chain transmission module, the walking motor 202 is coaxially connected with the driving gear 203, the gear modulus is 2.5, the number of teeth is 20, the chain pitch is 12.7mm, and the transmission ratio is designed to be 1:3, which can amplify the motor output torque by 3 times to ensure that the driving wheel has enough traction, and the maximum traction reaches 800N, and meanwhile, the transmission parts are wrapped with a sealed shell to prevent rainwater and dust from entering to cause jamming, which adapts to the harsh environment of high-altitude open operation; the mechanical arm trajectory tracking control faces uncertain factors such as friction force change, wire vibration interference and motor parameter drift, and a single control method is difficult to meet the accuracy requirement, therefore, a composite control strategy of sliding mode control + radial basis neural network is adopted: the sliding mode control converges the mechanical arm trajectory tracking error to ±0.The 1mm thickness accelerates system response; the radial basis function neural network estimates robotic arm dynamic parameters such as joint damping and link mass distribution in real time, as well as external disturbances such as gust loads, compensating for estimation errors in the control input, effectively suppressing chattering in sliding mode control and ensuring smooth robotic arm movement; the control system hardware uses the ESP32 development board as the main control core, which has a dual-core processor and rich peripheral interfaces, and can simultaneously process 8 sensor signals and 6 motor control commands: it establishes communication with the walking motor, joint motor, and wrench rotary motor through a CAN communication chip, with a communication rate of up to 500kbps and a command transmission delay of less than 10ms, meeting real-time control requirements. Example 2

[0021] like Figures 1 to 8 As shown, based on Embodiment 1, one end of the robotic arm mechanism is provided with an end-effector mechanism, which includes a sliding guide rail 301. A stepper motor 302 is fixedly installed on one side of the sliding guide rail 301. The output of the stepper motor 302 is fixedly connected to a lead screw 303. A moving block 304 is provided outside the lead screw 303. An electric wrench 305 is fixedly installed on the upper end of the moving block 304. The lead screw 303 and the moving block 304 are both located inside the sliding guide rail 301. One end of the lead screw 303 is rotatably connected to the sliding guide rail 301, and the lead screw 303 is threadedly connected to the moving block 304.

[0022] In this embodiment, the electric wrench 305 can be flexibly adjusted by the setting of the robotic arm mechanism and the cooperation of the end-effector, so as to facilitate the tightening of bolts; the rotation of the lead screw 303 drives the moving block 304 to perform translation, so that the electric wrench 305 can perform translational movement to achieve the purpose of tightening bolts.

[0023] Specifically, coordinate system A is established with the origin of the first robotic arm 103's rotation axis as the base point, the rotation axis being the z-axis, the x-axis initially pointing towards the second robotic arm 105, and the y-axis perpendicular to the xz plane and pointing outwards; coordinate system B is established with the origin of the second robotic arm 105's rotation axis as the base point, the two coordinate systems are in the same orientation but their origins do not coincide; let the angle between the first joint and the xz plane be θ1 (corresponding to the rotation angle of the first robotic arm 103 around the Z-axis), and the angle between the second joint and the xy plane be θ2 (corresponding to the rotation angle of the second robotic arm 105 around the Y-axis). Using trigonometric relationships and vector addition, the spatial coordinates of the end effector (electric wrench 305) can be obtained: x = L2・cosθ2 + L1・cosθ1, y = L1・sinθ1, z = L2・sinθ2 (where L1 is the length of the first robotic arm 103, and L2 is the length of the second robotic arm 105). The calculated spatial coordinates provide a mathematical basis for the precise positioning of the robotic arm, ensuring that the electric wrench 305 can quickly align with the bolt to be tightened. The sliding guide rail 301 in the end-effector mechanism is 300mm long and uses ball screw transmission, corresponding to the lead screw 303 and moving block 304 in this embodiment. The stepper motor 302 is a 42-stepper motor with a step angle of 1.8°, and the step distance reaches 0.01° after subdivision, which improves the positioning accuracy of driving the electric wrench 305 to move laterally along the Y-axis and can compensate for the positioning error of the robotic arm. The maximum torque of the electric wrench 305 is not less than 160N·m, and the torque adjustment range is 20-160N·m. It can be adapted to bolts of different specifications such as M12 to M24, and adopts an impact torque output method with an impact frequency of up to 2. With a speed of 000 times per minute, it can quickly overcome the initial static friction of the bolt while avoiding bolt overload and breakage caused by continuous high torque. The electric wrench 305 can be fitted with a wrench sleeve with a magnetic groove in its inner hole to attract the bolt and prevent it from falling off. The spring preload is 5-10N to ensure that the wrench sleeve fits tightly with the bolt head and prevent slippage during operation. In addition, the end-effector can also integrate a 1080P high-definition camera and LED supplementary light to transmit bolt status images back to the ground control console in real time via wireless transmission, which can facilitate remote observation of the operation by the operator and realize unmanned and visualized operation. Example 3

[0024] like Figures 1 to 8 As shown, based on embodiment 2, a limit frame 401 is fixedly connected to the upper side of the robot body 1 by screws. The drive shaft 206 has slots 402 on both sides. The limit frame 401 is locked inside the slots 402. The limit frame 401 is slidably connected to the slots 402. The limit frame 401 is located at the four corners of the upper side of the robot body 1.

[0025] In this embodiment, the limiting frame ensures that the drive shaft and the drive wheel can be stably mounted on the robot body; the sliding connection between the limiting frame and the slot does not affect the normal rotation of the drive wheel.

[0026] Specifically, the limit frame is made of aluminum alloy and precision machined by CNC. The whole frame has a U-shaped groove structure. The gap between the groove width and the diameter of the drive shaft 206 is controlled between 0.5 and 1 mm, which ensures that the drive shaft can rotate flexibly and avoids excessive radial wobble. It is fixed to the pre-set threaded hole on the upper side of the robot body 1 by M5 hexagonal screws. The screw tightening torque is set to 8-10 N·m to ensure the connection strength. At the same time, the screw head adopts a countersunk design to avoid the protruding surface scratching the wires or hardware. The four-corner installation layout forms a rectangular support structure, and symmetrically constrains the left and right two driving shafts, so that the driving shafts are uniformly stressed, and deformation of the shafts caused by unilateral stress is prevented; the driving shaft clamping groove 402 is arranged at the positions close to the bearings at the two ends of the driving shaft 206, the axial positioning accuracy of the clamping groove is controlled within ±0.1 mm, the limit frame can be accurately clamped to avoid axial movement of the driving shaft along the length direction of the wire, and the design is crucial for stable driving of the robot at the wire sag change position; when the robot climbs or descends, the driving shaft will not cause the driving wheel to deviate from the wire contact, and the traction force is stably output; the sliding connection mode of the limit frame 401 and the clamping groove 402 allows the driving shaft 206 to rotate the driving wheel when rotating around the shaft axis; in combination Figure 1 With Figure 8 It can be known that the limiting structure cooperates with the driving mechanism and the control system; when the sensing system detects that the vibration amount of the driving shaft exceeds the threshold value, the control system reduces the rotating speed of the walking motor, and the shaft body shaking is limited through the cooperation of the limit frame and the clamping groove, and the operation safety is further improved.

[0027] As a further technical solution of the embodiment, one side of the robot body 1 is fixedly connected with a setting frame 501, limiters 502 are hingedly connected to the inside of the setting frame 501, guide plates 503 are fixedly connected to one side of the limiters 502 through screws, and electric push rods 504 are fixedly installed at the bottom of the setting frame 501 and are hingedly arranged with the guide plates 503.

[0028] In the embodiment, the electric push rods 504 can drive the limiters 502 to swing, and the limiters 502 cooperate with the driving wheels to clamp the wire from below; the design of the limiters 502 aims to balance the gravity center of the robot and reduce vibration and inclination on the flexible power transmission line, so as to improve the stability and safety of the operation.

[0029] Specifically, the robot is suspended on the two side wires through the four driving concave wheels 207, the rear limiters 502 are arranged in a staggered manner, the anti-rollover capability during driving is further enhanced, and jamming at the wire intersection and spacer position is avoided; two driving boards respectively control the electric push rods 504, and the output current reaches 3A, so that the electric push rods 504 can be driven to complete rapid extension and retraction. Embodiment 4

[0030] As Figures 1 to 8 shown, on the basis of the embodiment 3, the lower sides of the robot body 1 are fixedly connected with clamping fixing frames 601, and the inner sides of the clamping fixing frames 601 are fixedly clamped with protective plates 602 through screws.

[0031] In this embodiment, the protective plate 602 performs anti-collision processing on the robot body 1, and the protective plate 602 is arranged on the lower sides of the robot body 1.

[0032] Specifically, the anti-collision adaptive design card of the fixed frame 601 is integrally formed by using carbon fiber composite material. Compared with the traditional metal support, it meets the lightweight design requirements of the robot, and also improves the impact strength, and can withstand an impact torque of 50 N·m without deformation. This impact strength index is set for the common "slight scratch collision" scene of the power transmission line, for example, when the robot moves along the wire, the fixed frame accidentally touches the spacer, and the structure can resist impact through its own rigidity, preventing the protective plate from falling off due to the bending of the support. The two protective plates 602 are symmetrically arranged on the lower side of the robot body, covering the range from the front end of the robot body to the lower side of the end operation mechanism, which can completely shield the key components such as the drive motor terminal and sensor cable interface on the lower side of the robot body, preventing the obstacle from scratching the cable or damaging the interface when colliding.

[0033] In addition, all the electrical equipment involved in the above-mentioned embodiments are powered by an external power supply.

[0034] Working principle of the application: 1) The robot body is made of lightweight materials such as carbon fiber and aluminum alloy, and moves through a driving mechanism. When the walking motor 202 is started, it drives the driving gear 203 to rotate, which in turn drives the driven gear 205 to rotate through the chain 204, and then drives the driving shaft 206 and the driving concave gear 207 to rotate, so that the robot travels along the power transmission wire. At the same time, the limit switch 502 is driven by the electric push rod 504 to clamp the wire from below in cooperation with the driving concave gear 207, ensuring the stability of the travel; 2) The sensing and control system uses an ESP32 development board as the main control, controls the walking motor 202, the first joint motor 102, the second joint motor 104 and the wrench rotating motor through a CAN communication chip, and monitors the robot state and environmental conditions in real time. At the same time, the movement of the limit switch 502 and the guide plate 503 is controlled by two driving boards; 3) The mechanical arm mechanism is driven by the first joint motor 102 and the second joint motor 104, and the first mechanical arm 103 rotates around the Z axis and the second mechanical arm 105 rotates around the Y axis, realizing flexible movement and positioning in three-dimensional space. The end operation mechanism at the end of the mechanical arm is driven by the stepping motor 302 to drive the lead screw 303, which in turn drives the moving block 304 and the electric wrench 305 to translate along the sliding guide rail 301; 4) When the robot reaches the bolt fastening work position, the mechanical arm mechanism adjusts the posture, and the electric wrench 305 is aligned with the bolt to be fastened. The electric wrench 305 completes the fastening work of M12-M24 specification bolts with a torque of not less than 160 N·m. The whole process is realized through modular collaborative work, and efficient and safe live-line work is achieved.

[0035] The above-described embodiments are merely preferred embodiments of the present application and are not intended to limit the scope of the present application. Without departing from the principles and the essence of the present application, various modifications and improvements to the technical solutions of the present application made by those of ordinary skill in the art shall fall within the scope of protection of the present application as defined by the claims.

Claims

1. A lightweight large load under robot arm structure comprising a robot main body (1), characterized in that, The robot body (1) is equipped with a robotic arm mechanism and a drive mechanism; The robotic arm mechanism includes a mounting frame (101), on the upper side of the mounting frame (101) a first joint motor (102) is fixedly mounted, the output end of the first joint motor (102) is fixedly connected to a first robotic arm (103), the inner side of the first robotic arm (103) is fixedly mounted to a second joint motor (104), and the output end of the second joint motor (104) is fixedly connected to a second robotic arm (105). The drive mechanism includes a fixed frame (201), on one side of which a walking motor (202) is fixedly mounted. The output end of the walking motor (202) is fixedly connected to a drive gear (203). A chain (204) meshes with the outside of the drive gear (203). The drive gear (203) is driven by a driven gear (205) via the chain (204). A drive shaft (206) is fixedly connected to both sides of the driven gear (205). A drive concave wheel (207) is fixedly connected to one end of the drive shaft (206).

2. The lightweight mechanical arm structure under heavy load according to claim 1, characterized in that, The mounting bracket (101) is fixedly connected to the lower side of the robot body (1), the fixing bracket (201) is fixedly installed at the bottom of the robot body (1), and the driven gear (205) is meshed with the chain (204).

3. The lightweight mechanical arm structure under heavy load according to claim 1, characterized in that, The first robotic arm (103) rotates around the Z-axis via the first joint motor (104), and the second robotic arm (105) rotates around the Y-axis via the second joint motor (104).

4. The lightweight mechanical arm structure under heavy load according to claim 1, characterized in that, One end of the robotic arm mechanism is provided with an end-effector mechanism, which includes a sliding guide rail (301). A stepper motor (302) is fixedly installed on one side of the sliding guide rail (301). The output of the stepper motor (302) is fixedly connected to a lead screw (303). A moving block (304) is provided outside the lead screw (303). An electric wrench (305) is fixedly installed on the upper end of the moving block (304).

5. The lightweight large-load mechanical arm structure according to claim 4, wherein The lead screw (303) and the moving block (304) are both located inside the sliding guide rail (301). One end of the lead screw (303) is rotatably connected to the sliding guide rail (301), and the lead screw (303) is threadedly connected to the moving block (304). 6.The structure of a lightweight manipulator under heavy load according to claim 1, wherein The upper side of the robot body (1) is fixedly connected to a limit frame (401) by screws. The drive shaft (206) has slots (402) on both sides, and the limit frame (401) is locked inside the slots (402).

7. The structure of a lightweight, high-load robotic arm according to claim 6, characterized in that, The limiting frame (401) is slidably connected to the slot (402), and the limiting frame (401) is located at the four corners on the upper side of the robot body (1).

8. The structure of a lightweight, high-load robotic arm according to claim 1, characterized in that, A mounting frame (501) is fixedly connected to one side of the robot body (1). Limiters (502) are hinged to both sides inside the mounting frame (501). A guide plate (503) is fixedly connected to one side of the limiter (502) by screws. An electric push rod (504) is fixedly installed at the bottom of the mounting frame (501). The electric push rod (504) is hinged to the guide plate (503).

9. The structure of a lightweight, high-load robotic arm according to claim 8, characterized in that, Two electric push rods (504) are provided, and the electric push rods (504) are installed at an angle to both sides at the bottom of the mounting frame (501).

10. The structure of a lightweight, high-load robotic arm according to claim 1, characterized in that, The robot body (1) has a locking bracket (601) fixedly connected to the lower two sides, and a protective plate (602) is fixedly mounted on the inner side of the locking bracket (601) by screws.

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