Novel mechanical arm

Abstract

The utility model relates to the technical field of agricultural machinery, in particular to a novel mechanical arm. Comprising. The utility model provides a novel mechanical arm which comprises a crawler-type elevator, a fixed bottom plate is fixed to the top of the crawler-type elevator, a first connecting arm is rotationally connected to the top of the fixed bottom plate, a second connecting arm is rotationally connected to one side of the first connecting arm, and a third connecting arm is rotationally connected to the inner side of the top of the second connecting arm. According to the novel mechanical arm, fruit stems can be rapidly and cleanly cut off through the design of the shearing mechanism, damage to apples and fruit trees is small, and the integrity and the appearance quality of the apples can be kept to the maximum extent; and due to the design of the clamping mechanism, the electric clamping jaw is easier to disassemble, the connecting part between the electric clamping jaw and the first connecting plate is easier to check and maintain, potential problems can be found and handled in time, and the service life of the whole operation system is prolonged.

Description

Technical Field

[0001] This utility model relates to the field of agricultural machinery technology, and in particular to a novel robotic arm. Background Technology

[0002] Most orchards use manual harvesting of apples to ensure the apples remain intact and minimize damage to the trees. However, manual harvesting is inefficient, and apples growing at higher elevations cannot be directly reached by manual harvesting; ladders or handrails are needed.

[0003] For example, Chinese utility model patent (CN109379984A) discloses an apple picker with a mechanical separation structure. Its structure consists of four clamping rods arranged in a double layer, connected by a steel wire with an outer sleeve, and controlled by a handle. A single squeeze of the handle enables a continuous action: the inner two clamping rods grip the apple stem, the outer two clamping rods hold the branch, and the inner two clamping rods pull the apple stem downwards. Specifically, by utilizing the cooperation of the picking head and the handle, when the separation handle is squeezed downwards to pull the steel wire, the separation device at the front end of the picking head first closes, clamping the apple stem. Continuing to squeeze the handle causes the inner clamping arm to slide downwards along the outer arm, thus detaching the apple stem from the branch.

[0004] When using the above technology, the following technical problems were found in the existing technology: the pulling of the above-mentioned harvester during harvesting may damage the fruit and branches, thereby affecting the fruit yield of the fruit trees in the following year. To this end, we designed a new type of robotic arm to provide another technical solution to the above technical problems. Utility Model Content

[0005] Based on this, it is necessary to provide a new type of robotic arm to address the aforementioned technical problems. Through the design of the shearing mechanism, it can quickly and cleanly cut off the fruit stem with minimal damage to the apple and the fruit tree, and can maintain the integrity and appearance quality of the apple to the greatest extent. The design of the snap-fit ​​mechanism makes the electric gripper easier to disassemble, and makes the connection between the electric gripper and the first connecting plate easier to inspect and maintain. This helps to identify and deal with potential problems in a timely manner and extend the service life of the entire operating system.

[0006] To solve the above-mentioned technical problems, the present invention adopts the following technical solution:

[0007] A novel robotic arm includes a tracked lifting platform. A fixed base plate is fixed to the top of the tracked lifting platform. A first connecting arm is rotatably connected to the top of the fixed base plate. A second connecting arm is rotatably connected to one side of the first connecting arm. A third connecting arm is rotatably connected to the inner side of the top of the second connecting arm. A fourth connecting arm is rotatably connected to the inner side of the top of the third connecting arm. A first connecting plate is rotatably connected to one end of the fourth connecting arm. An electric gripper is provided at one end of the first connecting plate. A locking mechanism is provided on the first connecting plate for locking the first connecting plate and the electric gripper. A shearing mechanism is also provided on the first connecting plate for separating fruit from branches.

[0008] In a preferred embodiment of the novel robotic arm provided by this utility model, the shearing mechanism includes a groove, a first rotating motor, a threaded rod, a sliding plate, a fixed plate, and guide rods. A groove is formed on the inner side of the first connecting plate. The first rotating motor is fixed to the inner side of one end of the first connecting plate. A threaded rod is fixed to the output end of the first rotating motor. The threaded rod is rotatably connected to the first connecting plate. A sliding plate is threadedly connected to the outer side of the threaded rod. The sliding plate is located inside the groove and is slidably connected to the first connecting plate through the groove. A fixed plate is fixed to the top of the sliding plate. Two guide rods are fixed to the outer side of the first connecting plate, and both guide rods are slidably connected to the fixed plate.

[0009] In a preferred embodiment of the novel robotic arm provided by this utility model, the shearing mechanism further includes a second rotating motor, a first rotating gear, a second rotating gear, a rotating rod, a rotating plate, and a cutting tool. The second rotating motor is fixed to the top of the fixed plate, and the first rotating gear is fixed to the output end of the second rotating motor. The first rotating gear is located inside the fixed plate and is rotatably connected to the fixed plate. Two second rotating gears are meshed with the outer side of the first rotating gear. A rotating rod is fixed to the inner side of each of the two second rotating gears. Both rotating rods are rotatably connected to the fixed plate. A rotating plate is fixed to the outer side of each of the two rotating rods. The rotating plate is located at the bottom of the second rotating gear, and a cutting tool is fixed to the inner side of each of the two rotating plates on the side closest to each other.

[0010] In a preferred embodiment of the novel robotic arm provided by this utility model, the locking mechanism includes a second connecting plate, a locking plate, a spring, a lifting plate, a locking groove, and a guide block. One end of the electric gripper is fixed to the second connecting plate, and the second connecting plate is locked to the first connecting plate. Multiple locking plates are slidably connected to the inner side of the first connecting plate. Springs are fixed to both sides of the top of the locking plate, and both springs are located inside the first connecting plate. A lifting plate is also fixed to the top of the locking plate, and the lifting plate is slidably connected to the first connecting plate. Multiple locking grooves are evenly distributed on the inner side of the second connecting plate, and the size of the locking grooves is the same as the outer size of the locking plate. The second connecting plate is locked to the locking plate through the locking grooves. Guide blocks are fixed to both sides of the locking plate, and both guide blocks are slidably connected to the first connecting plate.

[0011] In a preferred embodiment of the novel robotic arm provided by this utility model, a connecting rod is fixed to the outer side of the first connecting arm, a third rotating motor is fixed to the inner side of the connecting rod, a third connecting plate is fixed to the output end of the third rotating motor, and a data acquisition camera is fixed to the inner side of the third connecting plate.

[0012] In a preferred embodiment of the novel robotic arm provided by this utility model, an industrial control computer control box is fixed to the bottom of one side of the tracked elevator, the data acquisition camera is electrically connected to the industrial control computer control box, and a controller is fixed to the bottom of one end of the tracked elevator. The controller is electrically connected to the electric gripper, the first rotating motor, the second rotating motor and the third rotating motor.

[0013] It is clear without a doubt that the technical solution described above in this application can solve the technical problem that this application aims to address.

[0014] At the same time, through the above technical solutions, this utility model has at least the following beneficial effects:

[0015] This utility model provides a novel robotic arm that, through the design of a shearing mechanism, can quickly and cleanly cut off fruit stems with minimal damage to apples and fruit trees, maximizing the preservation of the apple's integrity and appearance quality. The design of the snap-fit ​​mechanism makes the electric gripper easier to disassemble, and the connection between the electric gripper and the first connecting plate easier to inspect and maintain. This helps to promptly identify and address potential problems, extending the service life of the entire operating system. Attached Figure Description

[0016] To more clearly illustrate the technical solutions of the embodiments of this utility model, the drawings used in the description of the embodiments will be briefly introduced below. Obviously, the drawings described below are some embodiments of this utility model. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0017] Figure 1 This is a schematic diagram of the overall structure of this utility model;

[0018] Figure 2 This is a schematic diagram of the connection structure between the second and third connecting arms of this utility model;

[0019] Figure 3 This is a schematic diagram of the connection structure between the electric gripper and the second connecting plate of this utility model.

[0020] Figure 4 This is a schematic diagram of the connection structure between the first rotating motor and the threaded rod of this utility model;

[0021] Figure 5 This is a schematic diagram of the connection structure between the first rotating gear and the second rotating gear of this utility model;

[0022] Figure 6 This is a schematic diagram of the connection structure between the lifting plate and the first connecting plate of this utility model;

[0023] Figure 7 This utility model Figure 6 Enlarged view of point A;

[0024] Figure 8 This is a schematic diagram of the connection structure between the third rotating motor and the third connecting plate of this utility model.

[0025] In the diagram: 1. Tracked lifting platform; 2. Fixed base plate; 3. First connecting arm; 4. Second connecting arm; 5. Third connecting arm; 6. Fourth connecting arm; 7. First connecting plate; 8. Electric gripper; 9. Slide groove; 10. First rotating motor; 11. Threaded rod; 12. Sliding plate; 13. Fixed plate; 14. Guide rod; 15. Second rotating motor; 16. First rotating gear; 17. Second rotating gear; 18. Rotating roller; 19. Rotating plate; 20. Cutting tool; 21. Second connecting plate; 22. Snap-fit ​​plate; 23. Spring; 24. Lifting plate; 25. Snap-fit ​​groove; 26. Guide block; 27. Connecting roller; 28. Third rotating motor; 29. ​​Third connecting plate; 30. Data acquisition camera; 31. Industrial control computer control box; 32. Controller. Detailed Implementation

[0026] To make the objectives, technical solutions, and advantages of this utility model clearer, the present utility model will be further described in detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative of the present utility model and are not intended to limit the present utility model.

[0027] As described in the background section, the pulling action of the aforementioned harvester during harvesting may damage the fruit and branches, thereby affecting the fruit yield of the fruit trees in the following year.

[0028] To solve this technical problem, this utility model provides a novel robotic arm.

[0029] For details, please refer to Figures 1-8 A novel robotic arm specifically includes: a tracked lifting platform 1, a fixed base plate 2 fixed to the top of the tracked lifting platform 1, a first connecting arm 3 rotatably connected to the top of the fixed base plate 2, a second connecting arm 4 rotatably connected to one side of the first connecting arm 3, a third connecting arm 5 rotatably connected to the inner side of the top of the second connecting arm 4, a fourth connecting arm 6 rotatably connected to the inner side of the top of the third connecting arm 5, a first connecting plate 7 rotatably connected to one end of the fourth connecting arm 6, an electric gripper 8 provided at one end of the first connecting plate 7, a locking mechanism provided on the first connecting plate 7 for locking the first connecting plate 7 and the electric gripper 8, and a shearing mechanism provided on the first connecting plate 7 for separating the fruit from the branch.

[0030] This utility model provides a novel robotic arm that, through the design of a shearing mechanism, can quickly and cleanly cut off fruit stems with minimal damage to apples and fruit trees, maximizing the preservation of the apple's integrity and appearance quality. The design of the snap-fit ​​mechanism makes the electric gripper 8 easier to disassemble, and the connection between the electric gripper 8 and the first connecting plate 7 easier to inspect and maintain. This helps to promptly identify and address potential problems, extending the service life of the entire operating system.

[0031] It should be noted that, unless otherwise specified, the embodiments and features and technical solutions in the present invention can be combined with each other.

[0032] It should be noted that similar labels and letters in the following figures indicate similar items. Therefore, once an item is defined in one figure, it does not need to be further defined and explained in subsequent figures.

[0033] Example 1

[0034] Reference Figures 1-5A novel robotic arm includes a tracked lifting platform 1. The bottom of the tracked lifting platform 1 is a mobile trolley, which serves as the carrier of the equipment. The trolley is equipped with a laser radar module, providing autonomous navigation and obstacle avoidance capabilities. The upper half of the tracked lifting platform 1 is a liftable section, allowing the robotic arm to provide a larger working range for collaborative robots. The tracked lifting platform 1 is model ZY-150. A power supply is installed on the tracked lifting platform 1 to provide power to various devices. A fixed base plate 2 is fixed to the top of the tracked lifting platform 1. A first connecting arm 3 is rotatably connected to the top of the fixed base plate 2. A second connecting arm 4 is rotatably connected to one side of the first connecting arm 3. A third connecting arm 5 is rotatably connected to the inner side of the top of the second connecting arm 4. A third connecting arm 5 is rotatably connected to the inner side of the top of the third connecting arm 5. The fourth connecting arm 6, the fixed base plate 2, the first connecting arm 3, the second connecting arm 4, and the third connecting arm 5 are all equipped with servo motors. The controller 32 is electrically connected to multiple servo motors. The servo motors enable the controller 32 to control the fixed base plate 2, the first connecting arm 3, the second connecting arm 4, and the third connecting arm 5. One end of the fourth connecting arm 6 is rotatably connected to the first connecting plate 7. One end of the first connecting plate 7 is equipped with an electric gripper 8, the specific model of which is EPG-HP26-050. The first connecting plate 7 is equipped with a snap-fit ​​mechanism for snapping the first connecting plate 7 and the electric gripper 8. The first connecting plate 7 is also equipped with a shearing mechanism for separating the fruit from the branch.

[0035] The shearing mechanism includes a groove 9, a first rotating motor 10, a threaded rod 11, a sliding plate 12, a fixed plate 13, and guide rods 14. A groove 9 is formed on the inner side of the first connecting plate 7. The first rotating motor 10 is fixed to the inner side of one end of the first connecting plate 7. A threaded rod 11 is fixed to the output end of the first rotating motor 10, and the threaded rod 11 is rotatably connected to the first connecting plate 7. A sliding plate 12 is threadedly connected to the outer side of the threaded rod 11. The sliding plate 12 is located inside the groove 9 and is slidably connected to the first connecting plate 7 via the groove 9. A fixed plate 13 is fixed to the top of the sliding plate 12. Two guide rods 14 are fixed to the outer side of the first connecting plate 7, and both guide rods 14 are slidably connected to the fixed plate 13. The shearing mechanism also includes a second rotating motor 15, a first rotating motor 16, a first rotating motor 17, a first rotating motor 18, a first rotating motor 19, a first rotating motor 10 ... The system includes a moving gear 16, a second rotating gear 17, a rotating roller 18, a rotating plate 19, and a cutting tool 20. A second rotating motor 15 is fixed to the top of a fixed plate 13. A first rotating gear 16 is fixed to the output end of the second rotating motor 15. The first rotating gear 16 is located inside the fixed plate 13 and is rotatably connected to the fixed plate 13. Two second rotating gears 17 are meshed with the outer side of the first rotating gear 16. A rotating roller 18 is fixed to the inner side of each of the two second rotating gears 17. Both rotating rollers 18 are rotatably connected to the fixed plate 13. A rotating plate 19 is fixed to the outer side of each of the two rotating rollers 18. The rotating plate 19 is located at the bottom of the second rotating gear 17. A cutting tool 20 is fixed to the inner side of each of the two rotating plates 19 that are close to each other.

[0036] The shearing mechanism is designed to cut the fruit stem quickly and cleanly, causing minimal damage to the apple and the tree, and preserving the apple's integrity and appearance to the greatest extent possible.

[0037] Example 2

[0038] Reference Figures 1-2 and Figures 6-8 A novel robotic arm with a locking mechanism including a second connecting plate 21, a locking plate 22, a spring 23, a lifting plate 24, locking grooves 25, and guide blocks 26. One end of the electric gripper 8 is fixed to the second connecting plate 21, which is locked to the first connecting plate 7. Multiple locking plates 22 are slidably connected to the inner side of the first connecting plate 7. Springs 23 are fixed to both sides of the top of the locking plate 22, and both springs 23 are located inside the first connecting plate 7. A lifting plate 24 is also fixed to the top of the locking plate 22, and the lifting plate 24 is slidably connected to the first connecting plate 7. Multiple locking grooves 25 are evenly distributed on the inner side of the second connecting plate 21. The size of the locking grooves 25 is the same as the outer size of the locking plate 22. The second connecting plate 21 is locked to the locking plate 22 through the locking grooves 25. Guide blocks 26 are fixed to both sides of the locking plate 22, and both guide blocks 26 are slidably connected to the first connecting plate 7.

[0039] The design of the snap-fit ​​mechanism makes the electric gripper 8 easier to disassemble and makes the connection between the electric gripper 8 and the first connecting plate 7 easier to inspect and maintain. This helps to identify and deal with potential problems in a timely manner and extend the service life of the entire operating system.

[0040] A connecting rod 27 is fixed to the outer side of the first connecting arm 3, and a third rotating motor 28 is fixed to the inner side of the connecting rod 27. A third connecting plate 29 is fixed to the output end of the third rotating motor 28, and a data acquisition camera 30 is fixed to the inner side of the third connecting plate 29. The data acquisition camera 30 is a web camera and is used for detection and positioning, transmitting the location information of crops and real-time monitoring status to the industrial control computer control box 31. An industrial control computer control box 31 is fixed to the bottom end of one side of the tracked elevator 1. The data acquisition camera 30 is electrically connected to the industrial control computer control box 31. The industrial control computer control box 31 is used to process visual and other related data information and coordinate the operation of the whole machine. A controller 32 is fixed to the bottom end of one end of the tracked elevator 1. The controller 32 is electrically connected to the electric gripper 8, the first rotating motor 10, the second rotating motor 15, and the third rotating motor 28. The controller 32 is used to process the data transmitted by the industrial control computer control box 31 and control the robotic arm.

[0041] The circuits, electronic components, and modules involved are all existing technologies, which can be fully implemented by those skilled in the art, and need not be elaborated upon. The content protected by this utility model does not involve any improvement to the software and methods.

[0042] The novel robotic arm provided by this utility model is used as follows: When the robotic arm is picking apples, the data acquisition camera 30 captures images to monitor the surrounding environment, and the industrial control computer control box 31 processes and extracts features from these images. After object recognition and obstacle detection by the data acquisition camera 30 and the industrial control computer control box 31, these data are processed by the controller 32 to help the tracked elevator 1 understand its surrounding environment and plan its path, while driving the tracked elevator 1 to move.

[0043] When the tracked scissor lift 1 reaches the designated position, the controller 32 controls the lifting portion at the top of the tracked scissor lift 1 to rise or fall. Since the fixed base plate 2 is located at the top of the tracked scissor lift 1, the rising or falling of the lifting portion of the tracked scissor lift 1 causes the fixed base plate 2 to rise or fall. At this time, the controller 32 controls the third rotating motor 28 to start. The output end of the third rotating motor 28 drives the third connecting plate 29 to rotate. Since the third connecting plate 29 is fixedly connected to the data acquisition camera 30, the rotation of the third connecting plate 29 drives the data acquisition camera 30 to rotate. The data acquisition camera 30 collects information about the surrounding environment, and the collected information is processed by the industrial control computer control box 31. The information processed by the industrial computer control box 31 is sent to the controller 32 and executed by the controller 32. The controller 32 controls the servo motor inside the fixed base plate 2 to start, and the output end of the motor drives the first connecting arm 3 to rotate, so that the first connecting arm 3, which is rotatably connected to the fixed base plate 2, also rotates. The rotation of the first connecting arm 3 makes the information collected by the data acquisition camera 30 more complete. At the same time, under the control of the controller 32, the servo motor inside the first connecting arm 3 drives the second connecting arm 4 to rotate. Through the data acquisition of the data acquisition camera 30, the data analysis of the industrial computer control box 31, and the control of the controller 32, the electric gripper 8 can grab the apples on the fruit tree.

[0044] After data collection and analysis, controller 32 starts the first rotating motor 10. The output of the first rotating motor 10 drives the threaded rod 11 to rotate. Since the threaded rod 11 is threadedly connected to the sliding plate 12 and the sliding plate 12 is fixedly connected to the fixed plate 13, the rotation of the threaded rod 11 causes the sliding plate 12 to move, and the fixed plate 13, which is fixedly connected to the sliding plate 12, also moves accordingly. As the fixed plate 13 moves, the branch connected to the apple is positioned between the two rotating plates 19. At this time, controller 32 starts the second rotating motor 15. The output of the second rotating motor 15 drives the first rotating gear 16 to rotate. The first rotating gear 16 is meshed with two second rotating gears 17, so that the rotation of the first rotating gear 16 drives the two second rotating gears 17 to rotate. Since the second rotating gears 17 are fixedly connected to the rotating rod 18, the rotation of the second rotating gears 17 drives the rotating rod 18 to rotate. As a result, the two rotating plates 19, which are fixedly connected to the rotating rod 18, rotate. Since the cutting blade 20 is fixedly connected to the rotating plate 19, the rotation of the rotating plate 19 drives the cutting blade 20 to rotate. As a result, the two cutting blades 20 come into contact and cut the branches, so that the apple is picked up by the chute 9.

[0045] The shearing mechanism is designed to cut the fruit stem quickly and cleanly, causing minimal damage to the apple and the tree, and preserving the apple's integrity and appearance to the greatest extent possible.

[0046] When the electric gripper 8 is damaged or needs maintenance, the lifting plate 24 is pulled to one side. Since the lifting plate 24 is fixedly connected to the snap-fit ​​plate 22, the movement of the lifting plate 24 causes the snap-fit ​​plate 22 to move, thereby compressing the spring 23 fixedly connected to the snap-fit ​​plate 22. Due to the movement of the snap-fit ​​plate 22, the snap-fit ​​plate 22 is disengaged from the snap-fit ​​groove 25, so that the second connecting plate 21 is no longer snapped to the snap-fit ​​plate 22 through the snap-fit ​​groove 25. This allows the second connecting plate 21 to be separated from the first connecting plate 7, thereby allowing the electric gripper 8 fixedly connected to the first connecting plate 7 to be disassembled, which facilitates the maintenance or replacement of the electric gripper 8.

[0047] The design of the snap-fit ​​mechanism makes the electric gripper 8 easier to disassemble and makes the connection between the electric gripper 8 and the first connecting plate 7 easier to inspect and maintain. This helps to identify and deal with potential problems in a timely manner and extend the service life of the entire operating system.

[0048] The preferred embodiments of this utility model disclosed above are merely illustrative of the present utility model. These preferred embodiments do not exhaustively describe all details, nor do they limit the present utility model to specific implementations. Clearly, many modifications and variations can be made based on the content of this specification. This specification selects and specifically describes these embodiments to better explain the principles and practical applications of the present utility model, thereby enabling those skilled in the art to better understand and utilize it. This utility model is limited only by the claims and their full scope and equivalents.

Claims

1. A novel robotic arm, characterized in that, The system includes a tracked elevator (1), with a fixed base plate (2) fixed to the top of the tracked elevator (1). A first connecting arm (3) is rotatably connected to the top of the fixed base plate (2). A second connecting arm (4) is rotatably connected to one side of the first connecting arm (3). A third connecting arm (5) is rotatably connected to the inner side of the top of the second connecting arm (4). A fourth connecting arm (6) is rotatably connected to the inner side of the top of the third connecting arm (5). A first connecting plate (7) is rotatably connected to one end of the fourth connecting arm (6). An electric gripper (8) is provided at one end of the first connecting plate (7). A snap-fit ​​mechanism is provided on the first connecting plate (7) for snapping the first connecting plate (7) and the electric gripper (8). A shearing mechanism is also provided on the first connecting plate (7) for separating the fruit from the branch.

2. The novel robotic arm according to claim 1, characterized in that, The shearing mechanism includes a groove (9), a first rotating motor (10), a threaded rod (11), a sliding plate (12), a fixed plate (13), and a guide rod (14). The groove (9) is provided on the inner side of the first connecting plate (7). The first rotating motor (10) is fixed on the inner side of one end of the first connecting plate (7). The threaded rod (11) is fixed at the output end of the first rotating motor (10). The threaded rod (11) is rotatably connected to the first connecting plate (7). The sliding plate (12) is threadedly connected to the outer side of the threaded rod (11). The sliding plate (12) is located inside the groove (9). The sliding plate (12) is slidably connected to the first connecting plate (7) through the groove (9). The fixed plate (13) is fixed at the top of the sliding plate (12). Two guide rods (14) are fixed on the outer side of the first connecting plate (7). Both guide rods (14) are slidably connected to the fixed plate (13).

3. The novel robotic arm according to claim 2, characterized in that, The shearing mechanism further includes a second rotating motor (15), a first rotating gear (16), a second rotating gear (17), a rotating rod (18), a rotating plate (19), and a cutting tool (20). The second rotating motor (15) is fixed to the top of the fixed plate (13). The first rotating gear (16) is fixed to the output end of the second rotating motor (15). The first rotating gear (16) is located inside the fixed plate (13). The first rotating gear (16) is rotatably connected to the fixed plate (13). Two second rotating gears (17) are meshed on the outer side of the first rotating gear (16). A rotating rod (18) is fixed to the inner side of each of the two second rotating gears (17). Both rotating rods (18) are rotatably connected to the fixed plate (13). A rotating plate (19) is fixed to the outer side of each of the two rotating rods (18). The rotating plate (19) is located at the bottom of the second rotating gear (17). A cutting tool (20) is fixed to the inner side of each of the two rotating plates (19) that are close to each other.

4. The novel robotic arm according to claim 1, characterized in that, The snap-fit ​​mechanism includes a second connecting plate (21), a snap-fit ​​plate (22), a spring (23), a lifting plate (24), a snap-fit ​​groove (25), and a guide block (26). One end of the electric gripper (8) is fixed to the second connecting plate (21), and the second connecting plate (21) snaps into the first connecting plate (7). Multiple snap-fit ​​plates (22) are slidably connected to the inner side of the first connecting plate (7). Springs (23) are fixed to both sides of the top of the snap-fit ​​plate (22), and both springs (23) are located inside the first connecting plate (7). A lifting plate (24) is also fixed to the top of the snap-fit ​​plate (22). The lifting plate (24) is slidably connected to the first connecting plate (7). Multiple snap-fit ​​grooves (25) are evenly distributed on the inner side of the second connecting plate (21). The size of the snap-fit ​​grooves (25) is the same as the outer size of the snap-fit ​​plate (22). The second connecting plate (21) is snapped to the snap-fit ​​plate (22) through the snap-fit ​​grooves (25). Guide blocks (26) are fixed on both sides of the snap-fit ​​plate (22). Both guide blocks (26) are slidably connected to the first connecting plate (7).

5. A novel robotic arm according to claim 1, characterized in that, A connecting rod (27) is fixed to the outer side of the first connecting arm (3), a third rotating motor (28) is fixed to the inner side of the connecting rod (27), a third connecting plate (29) is fixed to the output end of the third rotating motor (28), and a data acquisition camera (30) is fixed to the inner side of the third connecting plate (29).

6. A novel robotic arm according to claim 5, characterized in that, An industrial control computer control box (31) is fixed to the bottom of one side of the tracked elevator (1). The data acquisition camera (30) is electrically connected to the industrial control computer control box (31). A controller (32) is fixed to the bottom of one end of the tracked elevator (1). The controller (32) is electrically connected to the electric gripper (8), the first rotating motor (10), the second rotating motor (15), and the third rotating motor (28).

Images