A multi-angle precisely controlled robot arm

Abstract

The application belongs to the technical field of machine arms, and particularly relates to a multi-angle precise control robot arm, which comprises a shell, the shell comprises a large-arm shell, a shoulder joint shell, an elbow joint shell and a small-arm shell, arm plates are fixedly arranged in the large-arm shell and the small-arm shell, a joint unit is arranged between the arm plates, and a shoulder joint frame is connected to the upper end of the arm plate in the large-arm shell through the joint unit. The multi-angle precise control robot arm can maintain the stable gravity center under different swing postures such as vertical drooping, horizontal, upward lifting and the like, significantly reduces the interference of gravity center deviation on the overall posture of the robot, and the heat dissipation mechanism and the gravity center adjusting mechanism are linked, the screw rod drives the spline shaft to rotate through the synchronous wheel and the synchronous belt, the spline sleeve and the one-way connecting assembly are matched, the heat dissipation fan moves synchronously with the counterweight, and the one-way meshing effect of the pawl and the ratchet wheel realizes the heat dissipation adaptation during bidirectional movement.

Description

Technical Field

[0001] This invention belongs to the field of robotic arm technology, specifically relating to a robotic arm with multi-angle precise control. Background Technology

[0002] A robotic arm is an automated mechanical device that can simulate the movements of the human upper limbs. It typically consists of multiple joints, links, and end effectors, and can perform various tasks such as grasping, handling, assembly, and welding under the control of preset programs or sensor feedback.

[0003] Currently, robotic arms swing with each movement, causing the overall center of gravity to shift continuously with the change in posture. This dynamic change in the center of gravity can lead to a decrease in the overall posture stability of the robot, increase the load on the drive components in the robotic arm, and may also cause the drive components and their corresponding connectors to be subjected to additional shear forces due to the torque generated by the shift in the center of gravity. Long-term operation can easily cause wear and even damage to the components. At the same time, the heat generated by the drive components in the robotic arm during operation is difficult to dissipate efficiently, and the accumulation of heat can easily affect the transmission accuracy and service life of the components. Summary of the Invention

[0004] The purpose of this invention is to provide a robotic arm with adjustable center of gravity and precise multi-angle control in order to solve the above-mentioned problems.

[0005] The present invention achieves the above objectives through the following technical solutions: A robotic arm with multi-angle precision control includes a housing, which includes an upper arm shell, a shoulder joint shell, an elbow joint shell, and a forearm shell. An arm plate is fixedly installed inside the upper arm shell and the forearm shell. A joint assembly is arranged between the arm plates. The upper end of the arm plate located inside the upper arm shell is connected to another joint assembly, and the arm plate is connected to a shoulder joint frame through the joint assembly. The lower end of the arm plate located inside the forearm shell is connected to a robotic hand through a wrist motor. A center of gravity adjustment mechanism is provided on the boom plate located inside the boom shell. The center of gravity adjustment mechanism includes a movable seat that is slidably disposed on the boom plate. A mounting frame is fixedly disposed on the movable seat. A counterweight is disposed on the mounting frame. A lead screw that is threadedly connected to the movable seat is rotatably disposed on the boom plate. The arm plate is provided with a heat dissipation mechanism, which includes a spline shaft arranged parallel to the lead screw, a spline sleeve slidably arranged on the spline shaft and rotatably connected to the mounting bracket, a heat dissipation fan mirror-arranged on the mounting bracket, and a one-way connection component arranged between the heat dissipation fan and the spline sleeve. A fixing mechanism is provided between the shoulder joint frame and the joint unit.

[0006] A servo motor is fixedly mounted on the arm plate, the lead screw is fixedly connected to the output end of the servo motor, a guide rail pair is fixedly mounted on the arm plate, and the moving seat is slidably mounted on the guide rail pair.

[0007] The spline shaft is rotatably mounted on the arm plate. Both the spline shaft and the lead screw are equipped with synchronous pulleys, and a synchronous belt connects the synchronous pulleys. The cooling fan is fixedly mounted with a fan blade shaft, and the cooling fan is rotatably mounted on the mounting bracket via the fan blade shaft.

[0008] The unidirectional connection assembly includes a gear A fixedly mounted on a spline sleeve, a gear B rotatably mounted on the fan blade shaft, a ratchet fixedly mounted on the fan blade shaft, a pawl rotatably mounted on gear B, the pawl abutting against the ratchet, a spring being provided between the pawl and gear B, and a synchronous belt connecting gear B and gear A.

[0009] One end of the mounting bracket is connected to a corrugated pipe, the lower end of which is fixedly installed in the outer shell of the boom, and the lower end of the corrugated pipe is connected to an exhaust pipe.

[0010] The outer shell of the boom is provided with an air inlet and an exhaust outlet, and the exhaust outlet is connected to an exhaust pipe.

[0011] The joint unit includes a swing motor, which is fixedly installed in the shoulder joint shell and the elbow joint shell. A connecting frame is fixedly installed on the swing motor. The swing motor is connected to a deflection motor installed in the shoulder joint shell and the elbow joint shell respectively through the connecting frame. The output end of the deflection motor is fixedly connected to the connecting frame.

[0012] The fixing mechanism includes electromagnet A and electromagnet B, both of which are mounted on the output shaft of the swing motor. Electromagnet A and electromagnet B are connected to the swing motor by fixing bolts. A spacer is mounted on the fixing bolts between electromagnet A and electromagnet B. An adsorption plate is slidably mounted on electromagnet A and is attracted to electromagnet B. A permanent magnet mounted on the output end of the swing motor is fixedly mounted on the adsorption plate. Electromagnet A is mounted on the permanent magnet. A magnetizing assembly is fixedly mounted on the shoulder joint frame.

[0013] The magnetizing assembly includes a connecting plate fixedly mounted on the shoulder joint frame and fixedly connected to the output end of the swing motor. A guide frame is symmetrically fixedly mounted on the connecting plate. A magnetizing plate is slidably mounted on the guide frame. An elastic element is provided between the magnetizing plate and the connecting plate. An embedding groove is provided on the magnetizing plate. A baffle is provided at the end of the guide frame and is embedded in the embedding groove.

[0014] The beneficial effects of this invention are as follows: 1. Unlike existing technologies, in actual use, by setting up a center of gravity adjustment mechanism, the controller can adjust the operation of the servo motor in real time according to the arm's swing posture, drive the lead screw to drive the moving seat to slide along the guide rail pair, and then adjust the position of the counterweight block through the mounting bracket, so that the arm can maintain the stability of the center of gravity in different swing postures such as vertical hanging, horizontal, and upward, significantly reducing the interference of center of gravity offset on the robot's overall posture, while reducing the load on the joint unit and extending the service life of the swing motor and deflection motor.

[0015] 2. Unlike existing technologies, in actual use, the heat dissipation mechanism is linked with the center of gravity adjustment mechanism. The lead screw drives the spline shaft to rotate through the synchronous wheel and synchronous belt. In conjunction with the spline sleeve and the one-way connection component, the heat dissipation fan moves synchronously with the counterweight. The one-way meshing of the pawl and ratchet achieves heat dissipation adaptation during bidirectional movement. The airflow is discharged from the exhaust port through the bellows and exhaust pipe, forming a circulating heat dissipation, which efficiently removes the heat generated by the servo motor and joint unit inside the boom shell, avoiding heat accumulation that affects the performance of the components.

[0016] 3. Unlike existing technologies, in actual use, the fixing mechanism can automatically switch according to the working status of the joint unit. When the swing motor rotates, electromagnet A is de-energized and electromagnet B continuously attracts the adsorption plate to ensure smooth swing. When the swing stops, electromagnet A is energized to attract the magnetic plate to overcome the elastic force of the elastic element and achieve reliable fixing of the swing motor and the shoulder joint frame, resisting the shearing force generated by the weight of the arm and preventing joint wear. Attached Figure Description

[0017] Figure 1 This is a schematic diagram of the overall structure of the present invention; Figure 2 This is the present invention. Figure 1 Explosion structure diagram; Figure 3 This is a schematic diagram of the outer shell structure of the upper arm of the present invention; Figure 4 This is a schematic diagram of the arm plate connection structure of the present invention; Figure 5 This is the present invention. Figure 4 Explosion structure diagram; Figure 6 This is a schematic diagram of the exploded structure of the movable seat of the present invention; Figure 7 This is the present invention. Figure 6 Enlarged structural diagram at point A in the middle; Figure 8 This is a schematic diagram of the shoulder joint frame connection structure of the present invention; Figure 9 This is the present invention. Figure 8 Explosion structure diagram; Figure 10 This is an exploded structural diagram of the fixing mechanism of the present invention; Figure 11 This is a schematic diagram of the exploded structure of the magnetizing component of the present invention.

[0018] In the diagram: 1. Housing; 11. Upper arm housing; 111. Air inlet; 112. Exhaust outlet; 12. Shoulder joint housing; 13. Elbow joint housing; 14. Forearm housing; 2. Robotic arm; 3. Arm plate; 4. Joint unit; 41. Swing motor; 42. Connecting frame; 43. Deflection motor; 5. Shoulder joint frame; 6. Bellows; 61. Exhaust pipe; 7. Center of gravity adjustment mechanism; 71. Servo motor; 711. Lead screw; 72. Guide rail pair; 73. Moving base; 731. Mounting bracket; 74. Counterweight; 8. Heat dissipation mechanism; 81. Spline 811. Shaft; 812. Synchronous belt one; 82. Spline sleeve; 83. Cooling fan; 84. Fan blade shaft; 85. One-way connection assembly; 86. Gear A; 87. Gear B; 88. Ratchet; 89. Pawl; 80. Spring; 810. Synchronous belt two; 91. Fixing mechanism; 92. Electromagnet A; 93. Magnetizing assembly; 94. Connecting plate; 95. Magnetizing plate; 96. Embedded slot; 97. Guide frame; 98. Elastic element; 99. Electromagnet B; 90. Spacer; 91. Adsorption plate; 92. Permanent magnet. Detailed Implementation

[0019] The present application will now be described in further detail with reference to the accompanying drawings. It should be noted that the following specific embodiments are only used to further illustrate the present application and should not be construed as limiting the scope of protection of the present application. Those skilled in the art can make some non-essential improvements and adjustments to the present application based on the above application content.

[0020] Example 1, such as Figures 1-3As shown, a multi-angle controllable robotic arm includes a housing 1, which comprises a large arm housing 11, a shoulder joint housing 12, an elbow joint housing 13, and a forearm housing 14. These adjacent housings are rotatable relative to each other. The large arm housing 11 has an air inlet 111 and an exhaust outlet 112. Arm plates 3 are fixedly installed inside both the large arm housing 11 and the forearm housing 14. The lower end of the arm plate 3 located inside the forearm housing 14 is connected to a robotic hand 2 via a wrist motor. A joint assembly 4 is disposed between the two arm plates 3. A joint assembly 4 is also connected to the upper end of the arm plate 3 located inside the large arm housing 11, and the arm plate 3 is connected to a shoulder joint frame 5 via the joint assembly 4. The shoulder joint frame 5 is connected to the robot body. The joint assembly 4 includes a swing motor 41 and two swing motors. The swing motor 41 is fixedly installed in the shoulder joint housing 12 and the elbow joint housing 13 respectively. A connecting frame 42 is fixedly installed on the swing motor 41. The swing motor 41 is connected to the deflection motor 43 installed in the shoulder joint housing 12 and the elbow joint housing 13 respectively through the connecting frame 42. The output end of the deflection motor 43 is fixed to the connecting frame 42. The segmented design of the housing 1 can protect the internal components and facilitate disassembly and maintenance. The joint unit 4, through the coordinated cooperation of the swing motor 41 and the deflection motor 43, realizes power transmission with the help of the connecting frame 42. It can drive the arm to complete multi-angle swing and deflection at the shoulder joint and elbow joint. With the help of the wrist motor to drive the robot arm 2, the flexibility and angle control accuracy of the arm operation are greatly improved, meeting the needs of complex posture operation.

[0021] like Figures 4-5 As shown, a center of gravity adjustment mechanism 7 is provided on the arm plate 3 located inside the arm housing 11. The center of gravity adjustment mechanism 7 includes a movable seat 73 slidably disposed on the arm plate 3, a mounting bracket 731 fixedly disposed on the movable seat 73, a counterweight 74 disposed on the mounting bracket 731, a lead screw 711 rotatably disposed on the arm plate 3 and threadedly connected to the movable seat 73, a servo motor 71 fixedly disposed on the arm plate 3, the lead screw 711 being fixedly connected to the output end of the servo motor 71, a guide rail pair 72 fixedly disposed on the arm plate 3, the movable seat 73 slidably disposed on the guide rail pair 72, a bellows 6 connected to one end of the mounting bracket 731, and a corrugated pipe 6 fixed at the lower end of the bellows 6. The bellows 6 is fixedly installed in the outer shell 11 of the boom. The lower end of the bellows 6 is connected to the exhaust pipe 61, and the exhaust port 112 is connected to the exhaust pipe 61. The center of gravity adjustment mechanism 7 drives the lead screw 711 to rotate through the servo motor 71. By utilizing the threaded engagement between the lead screw 711 and the moving seat 73 and the guiding effect of the guide rail pair 72, the moving seat 73 can be controlled to drive the counterweight block 74 to move along the boom plate 3, adapting to the center of gravity requirements of different working postures of the boom. The bellows 6 can move and extend with the mounting frame 731, which can both seal and protect without hindering movement. At the same time, it forms an airflow channel with the exhaust pipe 61, the exhaust port 112 and the air inlet 111, providing a basis for subsequent heat dissipation circulation.

[0022] like Figures 4-6As shown, a heat dissipation mechanism 8 is provided on the mounting bracket 731. The heat dissipation mechanism 8 includes a splined shaft 81 parallel to the lead screw 711. A splined sleeve 812, which is slidably connected to the mounting bracket 731, is rotatably connected to the splined shaft 81. A cooling fan 82 is mirror-mounted on the mounting bracket 731. The splined shaft 81 is rotatably mounted on the arm plate 3. Both the splined shaft 81 and the lead screw 711 are provided with synchronous pulleys, and a synchronous belt 811 connects the synchronous pulleys. A fan blade shaft 821 is fixedly mounted on the cooling fan 82. The cooling fan 82 is rotatably mounted on the mounting bracket 731 via the fan blade shaft 821, dissipating heat... A one-way connection component 83 is provided between the heat fan 82 and the spline sleeve 812. The heat dissipation mechanism 8 realizes the synchronous rotation of the lead screw 711 and the spline shaft 81 by means of the synchronous belt 811. The cooperation between the spline shaft 81 and the spline sleeve 812 can take into account both power transmission and axial sliding, ensuring that the heat dissipation power is not interrupted when the mounting bracket 731 moves. The mirror-set heat dissipation fan 82, together with the one-way connection component 83, can control the start and stop of the corresponding heat dissipation fan 82 according to the moving direction of the counterweight 74, realize follow-up heat dissipation, improve the targeting and efficiency of heat dissipation, and avoid the internal components from being affected by high temperature, thus affecting the operational stability and service life.

[0023] like Figures 6-7 As shown, the one-way connection assembly 83 includes a gear A831 fixedly mounted on the spline sleeve 812, a gear B832 rotatably mounted on the fan blade shaft 821, a ratchet 833 fixedly mounted on the fan blade shaft 821, and a pawl 834 rotatably mounted on the gear B832. The pawl 834 abuts against the ratchet 833, and a spring 835 is provided between the pawl 834 and the gear B832. A timing belt 836 connects the gear B832 and the gear A831. The one-way connection assembly 83 is connected via the ratchet 831. 3. The pawl 834 and spring 835 work together to achieve unidirectional transmission. When gear A831 drives gear B832 to rotate through synchronous belt 836, it can drive the fan blade shaft 821 to drive the cooling fan 82 to run only in a specific direction. In the opposite direction, they are separated and do not drive. With the mirrored cooling fan 82, the corresponding cooling fan 82 can work when the counterweight 74 moves in both directions, and the airflow direction can be fixed, which improves the heat dissipation circulation effect. At the same time, the structure is simple and reliable, and can achieve follow-up start and stop without additional control components.

[0024] like Figures 8-10As shown, a fixing mechanism 9 is provided between the shoulder joint frame 5 and the joint unit 4. The fixing mechanism 9 includes electromagnets A91 and B93. The magnetic attraction surfaces generated by electromagnets A91 and B93 after being energized are in the same direction. Electromagnets A91 and B93 are both sleeved on the output shaft of the swing motor 41. Electromagnets A91 and B93 are connected to the swing motor 41 by fixing bolts. A spacer 931 located between electromagnets A91 and B93 is sleeved on the fixing bolts. An adsorption plate 94 is slidably arranged on electromagnet A91 and is movablely attracted to electromagnet B93. A permanent magnet 941 is fixedly arranged on the adsorption plate 94 and sleeved on the output end of the swing motor 41. A magnetic attraction component 92 is fixedly installed on the shoulder joint frame 5, which is fitted onto the permanent magnet 941. The swing motor 41 connected to the shoulder joint frame 5 and its output end are provided with a magnetic shielding coating. The fixing mechanism 9, through the synergistic action of electromagnets A91 and B93 and the permanent magnet 941, can achieve joint positioning and fixation when the swing motor 41 stops, resisting the shearing force generated by the arm's own weight and improving operational stability. The spacer 931 can ensure the installation distance between electromagnets A91 and B93 to avoid mutual interference of magnetic fields. The magnetic shielding cover and the magnetic shielding treatment at the output end can prevent the magnetic field from affecting the joint transmission accuracy and ensure the accuracy of angle control. At the same time, the electromagnet drive mode responds quickly and can flexibly switch between fixed and running states.

[0025] like Figure 11 As shown, the magnetizing assembly 92 includes a connecting plate 921 fixedly mounted on one end of the shoulder joint frame 5. The connecting plate 921 is fixed to the output end of the swing motor 41, and the other end of the shoulder joint frame 5 is rotatably connected to the swing motor 41. A guide frame 923 is symmetrically fixedly mounted on the connecting plate 921, and a magnetizing plate 922 is slidably mounted on the guide frame 923. An elastic element 924 is provided between the magnetizing plate 922 and the connecting plate 921. When the adsorption plate 94 is attracted to the electromagnet B93, the permanent magnet 941 moves away from the magnetizing plate 922. An embedding groove 924 is provided on the magnetizing plate 922. 221. A baffle is provided at the end of the guide frame 923. The baffle is embedded in the embedding groove 9221 and the magnetizing assembly 92. The guide frame 923 provides sliding guidance for the magnetizing plate 922. The embedding groove 9221 and the baffle cooperate to limit the sliding stroke of the magnetizing plate 922 and avoid excessive displacement and damage to the components. The elastic element 924 can drive the magnetizing plate 922 to reset when the electromagnet A91 is de-energized, ensuring that the permanent magnet 941 can be attracted and positioned with the magnetizing plate 922 when the equipment is de-energized, preventing accidental shaking of the arm, improving the safety of equipment shutdown, and realizing the linkage of magnetic field positioning.

[0026] It should be noted that the working principle of this multi-angle precision-controlled robotic arm is as follows: The robot body is equipped with a controller. According to the arm's working posture command, the controller drives the servo motor 71 located on the outer shell 11 of the upper arm and the inner arm plate 3 to operate. The output end of the servo motor 71 drives the lead screw 711 to rotate synchronously. Since the moving seat 73 is threadedly connected to the lead screw 711 and slides with the arm plate 3 through the guide rail pair 72, the rotational motion of the lead screw 711 is converted into the linear displacement of the moving seat 73 along the arm plate 3. Then, through the mounting bracket 731, the counterweight 74 is driven to adjust its position to adapt to the center of gravity requirements of different postures. Specifically, when the arm is hanging vertically, the counterweight 74 moves to the lower end of the arm plate 3 to lower the overall center of gravity; when the arm is in a horizontal posture, the counterweight 74 stays in the middle of the arm plate 3 to balance the center of gravity; when the arm is raised, the counterweight 74 moves towards the shoulder joint frame 5 to maintain the stability of the center of gravity.

[0027] During the movement of the counterweight 74, the lead screw 711 drives the spline shaft 81 to rotate synchronously through the synchronous pulley and synchronous belt 811. The spline shaft 81 transmits torque through the spline sleeve 812, which is rotatably connected to the mounting bracket 731 and moves synchronously with it. Simultaneously, the one-way connection assembly 83 controls the start and stop of the cooling fan 82. In the one-way connection assembly 83, gear A 831 on the spline sleeve 812 drives gear B 832 to rotate through synchronous belt 836. The pawl 834 on gear B 832 engages one-way with the ratchet 833 on the fan blade shaft 821 under the action of the spring 835. When the counterweight 74 moves towards one end of the arm plate 3, the corresponding one-way connection assembly 83 engages. The transmission drives the cooling fan 82 on this side to rotate on the mounting bracket 731 via the fan blade shaft 821, while the one-way connecting component 83 on the other side is separated and not driven. When the counterweight 74 moves in the opposite direction, the cooling fan 82 on the other side starts, so that the cooling fan 82 moves with the counterweight 74 inside the boom shell 11 to dissipate heat. The airflow is collected by the bellows 6 connected to one end of the mounting bracket 731, and then discharged from the exhaust port 112 of the boom shell 11 through the exhaust pipe 61 connected to the bellows 6. External air is supplemented into the boom shell 11 through the air inlet 111 to form an airflow circulation. Since the cooling fan 82 is set in a mirror symmetry, no matter which end of the counterweight 74 moves to, it can generate airflow in a fixed direction.

[0028] During the joint transmission process, the swing motor 41 in the joint unit 4 is fixed inside the shoulder joint shell 12 and the elbow joint shell 13. The swing motor 41 drives the deflection motor 43 to operate through the connecting frame 42. The output end of the deflection motor 43 is fixed to the connecting frame 42, realizing the multi-angle swing and deflection of the arm at the shoulder and elbow joints. The upper end of the arm plate 3 located inside the upper arm shell 11 is connected to the shoulder joint frame 5 through the joint unit 4. The lower end of the arm plate 3 inside the forearm shell 14 drives the robotic arm 2 to perform the grasping action through the wrist motor. The fixed mechanism 9 is linked to the joint unit 4: When the swing motor 41 rotates, the electromagnet A91 is de-energized, and does not generate an attraction force on the magnetic plate 922 in the magnetic attraction assembly 92. Under the action of the elastic element 924, the magnetic plate 922 maintains a distance from the connecting plate 921 through the guide frame 923. At the same time, the electromagnet B93 continuously attracts the adsorption plate 94, so that the permanent magnet 941 on the adsorption plate 94 does not attract the magnetic plate 922, ensuring the normal operation of the joint; when the swing motor 41 stops rotating, the electromagnet A91 is energized. A magnetic force is generated, attracting the magnetic plate 922 to overcome the elastic force of the elastic element 924 and slide along the guide frame 923 to fit against the electromagnet A91, thus fixing the swing motor 41 to the shoulder joint frame 5 and resisting the shearing force generated by the arm's own weight. When the equipment is powered off, the electromagnet B93 loses its magnetism and no longer attracts the adsorption plate 94. The permanent magnet 941 and the magnetic plate 922 are attracted and positioned. When the electromagnet B93 is powered on again, its magnetic force overcomes the attraction force between the permanent magnet 941 and the magnetic plate 922, pulling the adsorption plate 94 back to its initial position. In addition, the swing motor 41 connected to the shoulder joint frame 5 is covered with a magnetic shield, and its output end is treated with magnetic shielding to avoid the magnetic field interfering with the joint transmission accuracy.

[0029] The embodiments described above are merely examples of several implementations of the present invention, and while the descriptions are relatively specific and detailed, they should not be construed as limiting the scope of the present invention. It should be noted that those skilled in the art can make various modifications and improvements without departing from the concept of the present invention, and these modifications and improvements all fall within the scope of protection of the present invention.

Claims

1. A robotic arm with multi-angle precision control, comprising a housing (1), said housing (1) including an upper arm housing (11), a shoulder joint housing (12), an elbow joint housing (13), and a forearm housing (14), characterized in that: Arm plates (3) are fixedly installed inside both the upper arm shell (11) and the lower arm shell (14). A joint assembly (4) is installed between the arm plates (3). The upper end of the arm plate (3) located inside the upper arm shell (11) is connected to another joint assembly (4), and the arm plate (3) is connected to a shoulder joint frame (5) through the joint assembly (4). The lower end of the arm plate (3) located inside the lower arm shell (14) is connected to a robotic arm (2) through a wrist motor. A center of gravity adjustment mechanism (7) is provided on the arm plate (3) located inside the outer shell (11) of the boom. The center of gravity adjustment mechanism (7) includes a movable seat (73) slidably disposed on the arm plate (3). A mounting frame (731) is fixedly disposed on the movable seat (73). A counterweight (74) is disposed on the mounting frame (731). A screw (711) threadedly connected to the movable seat (73) is rotatably disposed on the arm plate (3). The arm plate (3) is provided with a heat dissipation mechanism (8), which includes a spline shaft (81) arranged parallel to the lead screw (711), a spline sleeve (812) slidably arranged on the spline shaft (81) and rotatably connected to the mounting bracket (731), a heat dissipation fan (82) mirrored on the mounting bracket (731), and a one-way connection component (83) between the heat dissipation fan (82) and the spline sleeve (812). A fixing mechanism (9) is provided between the shoulder joint frame (5) and the joint assembly (4).

2. The robotic arm with multi-angle precise control according to claim 1, characterized in that: A servo motor (71) is fixedly installed on the arm plate (3), and the lead screw (711) is fixedly connected to the output end of the servo motor (71). A guide rail pair (72) is fixedly installed on the arm plate (3), and the moving seat (73) is slidably installed on the guide rail pair (72).

3. The robotic arm with multi-angle precise control according to claim 1, characterized in that: The spline shaft (81) is rotatably mounted on the arm plate (3). Both the spline shaft (81) and the lead screw (711) are equipped with synchronous pulleys, and a synchronous belt (811) is connected between the synchronous pulleys. The cooling fan (82) is fixedly mounted with a fan blade shaft (821), and the cooling fan (82) is rotatably mounted on the mounting bracket (731) through the fan blade shaft (821).

4. The robotic arm with multi-angle precise control according to claim 3, characterized in that: The one-way connection assembly (83) includes a gear A (831) fixedly mounted on a spline sleeve (812), a gear B (832) rotatably mounted on the fan blade shaft (821), a ratchet (833) fixedly mounted on the fan blade shaft (821), a pawl (834) rotatably mounted on the gear B (832), the pawl (834) abutting against the ratchet (833), a spring (835) between the pawl (834) and the gear B (832), and a timing belt (836) connecting the gear B (832) and the gear A (831).

5. A robotic arm with multi-angle precision control according to claim 1, characterized in that: One end of the mounting bracket (731) is connected to a corrugated pipe (6), the lower end of which is fixedly installed in the outer shell (11) of the boom, and the lower end of which is connected to an exhaust pipe (61).

6. A robotic arm with multi-angle precise control according to claim 5, characterized in that: The outer shell (11) of the upper arm is provided with an air inlet (111) and an exhaust outlet (112), and the exhaust outlet (112) is connected to the exhaust pipe (61).

7. A robotic arm with multi-angle precision control according to claim 1, characterized in that: The joint unit (4) includes a swing motor (41), which is fixedly installed in the shoulder joint shell (12) and the elbow joint shell (13). A connecting frame (42) is fixedly installed on the swing motor (41). The swing motor (41) is connected to a deflection motor (43) installed in the shoulder joint shell (12) and the elbow joint shell (13) respectively through the connecting frame (42). The output end of the deflection motor (43) is fixedly connected to the connecting frame (42).

8. A robotic arm with multi-angle precise control according to claim 7, characterized in that: The fixing mechanism (9) includes electromagnet A (91) and electromagnet B (93). Electromagnet A (91) and electromagnet B (93) are both sleeved on the output shaft of the swing motor (41). Electromagnet A (91) and electromagnet B (93) are connected to the swing motor (41) by fixing bolts. A spacer (931) is sleeved on the fixing bolts between electromagnet A (91) and electromagnet B (93). An adsorption plate (94) is slidably arranged on electromagnet A (91) and adsorbs electromagnet B (93). A permanent magnet (941) is fixedly arranged on the adsorption plate (94) and sleeved on the output end of the swing motor (41). Electromagnet A (91) is sleeved on the permanent magnet (941). A magnetizing assembly (92) is fixedly arranged on the shoulder joint frame (5).

9. A robotic arm with multi-angle precision control according to claim 8, characterized in that: The magnetizing assembly (92) includes a connecting plate (921) fixedly mounted on the shoulder joint frame (5) and fixedly connected to the output end of the swing motor (41). A guide frame (923) is symmetrically fixedly mounted on the connecting plate (921). A magnetizing plate (922) is slidably mounted on the guide frame (923). An elastic element (924) is provided between the magnetizing plate (922) and the connecting plate (921). An embedding groove (9221) is provided on the magnetizing plate (922). A baffle is provided at the end of the guide frame (923) and the baffle is embedded in the embedding groove (9221).

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