Multifunctional mechanical arm

Abstract

The utility model relates to a multifunctional mechanical arm which comprises a connecting arm, a rotary arm, a telescopic arm, a first rotary driving mechanism and a second rotary driving mechanism. One end of the rotary arm is rotatably connected with the connecting arm through a first rotary driving mechanism, the telescopic arm is rotatably connected with the other end of the rotary arm through a second rotary driving mechanism, and the clamp assembly is installed at the telescopic end of the telescopic arm; the rotary arm can be driven to rotate in the horizontal plane through the first rotary driving mechanism, the telescopic arm can be driven to rotate in the horizontal plane through the second rotary driving mechanism, and the telescopic arm can stretch and contract horizontally. The telescopic drilling platform has the beneficial effects that the telescopic drilling platform can rotate and stretch to a greater extent, adapts to different position requirements of the drilling platform and is wider in operation range.

Description

Technical Field

[0001] This utility model relates to the field of oil and gas drilling technology, and in particular to a multifunctional robotic arm. Background Technology

[0002] With the development of the oil and gas technology field, more and more mechanized equipment (powered catwalks, iron drills, top drives, hydraulic chucks, powered slips, lifting robots, two-tier robots, etc.) are being used in oil and gas drilling operations. Among them, the robot is an important mechanism in the tubing transport process, capable of replacing manual labor in various handling and splicing tasks.

[0003] Currently, CN217176529U discloses an automatic drill pipe deployment robotic arm for offshore drilling platforms. It includes a base, a motor fixed to the inner wall of the base, a rotating sleeve rotatably connected to the top of the base, a hydraulic cylinder fixed to the top of the rotating sleeve, a second hydraulic cylinder fixed to the piston rod of the first hydraulic cylinder, and a connecting arm fixed to the piston rod of the first hydraulic cylinder. The motor drives two clamping blocks to rotate, allowing the two clamping blocks to open and close. The motor drives the gripped drill pipe to rotate, the hydraulic cylinder adjusts the height of the gripped drill pipe, and the hydraulic cylinder adjusts the fore-and-aft distance of the gripped drill pipe. While it can replace manual operation and eliminate the risks associated with manual handling, its functionality is limited and cannot meet the needs of drill string transportation, handover, and storage. Utility Model Content

[0004] (a) Technical problems to be solved

[0005] In view of the above-mentioned shortcomings and deficiencies of the prior art, the present invention provides a multifunctional robotic arm, which solves the technical problem that the prior art has a single function and cannot meet the needs of tube column transportation, handover and storage.

[0006] (II) Technical Solution

[0007] To achieve the above objectives, the main technical solutions adopted by this utility model include:

[0008] This utility model provides a multifunctional robotic arm, including a connecting arm, a rotary arm, a telescopic arm, a first rotary drive mechanism, and a second rotary drive mechanism. One end of the rotary arm is rotatably connected to the connecting arm via the first rotary drive mechanism, and the telescopic arm is rotatably connected to the other end of the rotary arm via the second rotary drive mechanism. A clamp assembly is mounted on the telescopic end of the telescopic arm. The first rotary drive mechanism can drive the rotary arm to rotate in a horizontal plane, and the second rotary drive mechanism can drive the telescopic arm to rotate in a horizontal plane. The telescopic arm can extend and retract horizontally. The clamp assembly can be mounted on the end of the telescopic arm.

[0009] Optionally, the first rotary drive mechanism includes a first rotary driver, a first rotary reducer, a first driven shaft, and a first bearing assembly; the connecting arm has a first mating portion and a second mating portion; one end of the rotary arm has a first connecting portion and a second connecting portion; the first rotary driver is connected to the first rotary reducer, the first rotary reducer is mounted on the connecting arm, the drive shaft of the first rotary reducer passes through the first mating portion and the first connecting portion, and the drive shaft of the first rotary reducer and the first mating portion are rotatably connected through the first bearing assembly, and the drive shaft of the first rotary reducer and the first connecting portion are fixedly connected; the first driven shaft passes through the second mating portion and the second connecting portion, and the first driven shaft and the second mating portion are rotatably connected through the first bearing assembly, and the first driven shaft and the second connecting portion are fixedly connected; the rotary arm is driven to rotate by the first rotary driver via the first rotary reducer.

[0010] Optionally, the first bearing assembly includes a first bearing and a second bearing; the first bearing is installed between the first mating portion and the drive shaft of the first rotary reducer, and the second bearing is installed between the second mating portion and the first driven shaft.

[0011] Optionally, the connecting arm has two first connecting lugs and two second connecting lugs; the two first connecting lugs are arranged vertically and horizontally to form a first mating portion, and the two second connecting lugs are arranged vertically and horizontally to form two second mating portions; the first connecting portion is located between the two first connecting lugs, and the drive shaft of the first rotary reducer passes through the two first connecting lugs and the first connecting portion; the second connecting portion is located between the two second connecting lugs, and the first driven shaft passes through the two second connecting lugs and the second connecting portion; there are two first bearings and two second bearings, with the two first bearings correspondingly arranged between the two first connecting lugs and the drive shaft of the first rotary reducer, and the two second bearings correspondingly arranged between the two second connecting lugs and the first driven shaft.

[0012] Optionally, the second rotary drive mechanism includes a second rotary driver, a second rotary reducer, a second driven shaft, and a second bearing assembly; the other end of the rotary arm has a third docking portion and a fourth docking portion; one end of the telescopic arm has a third connecting portion and a fourth connecting portion; the second rotary driver is connected to the second rotary reducer, the second rotary reducer is mounted on the rotary arm, the drive shaft of the second rotary reducer passes through the third docking portion and the third connecting portion, and the drive shaft of the second rotary reducer is rotatably connected to the third docking portion through the second bearing assembly, and the drive shaft of the second rotary reducer and the third connecting portion are fixedly connected; the second driven shaft passes through the fourth docking portion and the fourth connecting portion, and the second driven shaft and the fourth docking portion are rotatably connected through the second bearing assembly, and the second driven shaft and the fourth connecting portion are fixedly connected; the telescopic arm is driven to rotate via the second rotary driver and the second rotary reducer.

[0013] Optionally, the second bearing assembly includes a third bearing and a fourth bearing; the third bearing is mounted between the third mating portion and the drive shaft of the second rotary reducer; the fourth bearing is mounted between the fourth mating portion and the second driven shaft.

[0014] Optionally, the other end of the rotary arm has two third connecting lugs and two fourth connecting lugs; the two third connecting lugs are arranged flush to form a third mating portion, and the two fourth connecting lugs are arranged flush to form two fourth mating portions; the third connecting portion is located between the two third connecting lugs, and the drive shaft of the second rotary reducer passes through the two third connecting lugs and the third connecting portion; the fourth connecting portion is located between the two fourth connecting lugs, and the second driven shaft passes through the two fourth connecting lugs and the fourth connecting portion; there are two third bearings and two fourth bearings, with the two third bearings located one-to-one between the two third connecting lugs and the drive shaft of the second rotary reducer, and the two fourth bearings located one-to-one between the two fourth connecting lugs and the second driven shaft.

[0015] Optionally, the telescopic arm includes an outer arm, an inner arm, and a telescopic actuator. The outer arm is slidably sleeved on the inner arm, and the telescopic actuator is installed on the outer arm. The drive end of the telescopic actuator is connected to the inner arm to drive the inner arm to slide along the length direction of the outer arm, thereby achieving extension and retraction. The free end of the outer arm is rotatably connected to the other end of the rotary arm through a second rotary drive mechanism, and the clamp assembly is installed on the free end of the inner arm.

[0016] (III) Beneficial Effects

[0017] The beneficial effects of this utility model are:

[0018] This utility model provides a multifunctional robotic arm that can drive a rotary arm to rotate in the horizontal plane through a first rotary drive mechanism and a telescopic arm to rotate in the horizontal plane through a second rotary drive mechanism, enabling independent rotation of the joints. This allows for flexible movement in multiple directions, adapting to various drilling string angles and positions, and can be precisely adjusted according to specific drilling conditions, thereby reducing misoperation and drilling string damage. The telescopic arm can extend and retract horizontally, allowing for greater rotation and extension compared to existing technologies, adapting to different positional requirements of the drilling platform and providing a wider operating range. Attached Figure Description

[0019] Figure 1 This is a schematic diagram of the structure of a multifunctional robotic arm according to a specific embodiment of the present invention;

[0020] Figure 2 This is a front view schematic diagram of a multifunctional robotic arm according to a specific embodiment of the present utility model;

[0021] Figure 3A top view of a multifunctional robotic arm according to a specific embodiment of this utility model;

[0022] Figure 4 This is a schematic diagram of the structure of the joint of the multifunctional robotic arm according to a specific embodiment of the present invention.

[0023] [Explanation of Labels in the Attached Image]

[0024] 1: Connecting arm; 11: First connecting lug; 12: Second connecting lug;

[0025] 2: Rotary arm; 21: First connecting part; 22: Second connecting part; 23: Third connecting lug; 24: Fourth connecting lug;

[0026] 3: Telescopic arm; 31: Outer arm; 32: Inner arm; 33: Telescopic actuator; 34: Third connecting part; 35: Fourth connecting part;

[0027] 41: First rotary driver; 42: First rotary reducer; 43: First driven shaft; 44: First bearing; 45: Second bearing;

[0028] 51: Second rotary drive; 52: Second rotary reducer; 53: Second driven shaft; 54: Third bearing; 55: Fourth bearing. Detailed Implementation

[0029] To better understand the above technical solutions, exemplary embodiments of the present invention will be described in more detail below with reference to the accompanying drawings. Although exemplary embodiments of the present invention are shown in the drawings, it should be understood that the present invention can be implemented in various forms and should not be limited to the embodiments set forth herein. Rather, these embodiments are provided so that the present invention can be understood more clearly and thoroughly, and that the scope of the present invention can be fully conveyed to those skilled in the art.

[0030] like Figures 1-2 As shown, this embodiment provides a multifunctional robotic arm, including a connecting arm 1, a rotary arm 2, a telescopic arm 3, a first rotary drive mechanism, and a second rotary drive mechanism. One end of the rotary arm 2 is rotatably connected to the connecting arm 1 via the first rotary drive mechanism, and the telescopic arm 3 is rotatably connected to the other end of the rotary arm 2 via the second rotary drive mechanism. A clamp assembly is mounted on the telescopic end of the telescopic arm 3. The first rotary drive mechanism can drive the rotary arm 2 to rotate in a horizontal plane, and the second rotary drive mechanism can drive the telescopic arm 3 to rotate in a horizontal plane. The telescopic arm 3 can extend and retract horizontally. The clamp assembly can be mounted on the end of the telescopic arm 3.

[0031] Specifically, the first rotary drive mechanism can drive the rotary arm 2 to rotate in the horizontal plane, and the second rotary drive mechanism can drive the telescopic arm 3 to rotate in the horizontal plane, realizing independent rotation of the joints. It can move flexibly in multiple directions to adapt to the angle and position requirements of various tubing strings, and can be precisely adjusted according to specific drilling conditions, thereby reducing misoperation and tubing string damage. In conjunction with the telescopic arm 3, it can extend and retract horizontally, and compared with the existing technology, it can rotate and extend to a greater extent, adapting to different position requirements of the drilling platform and expanding the operating range.

[0032] Furthermore, such as Figure 4 As shown, the first rotary drive mechanism includes a first rotary driver 41, a first rotary reducer 42, a first driven shaft 43, and a first bearing assembly; the connecting arm 1 has a first mating portion and a second mating portion; one end of the rotary arm 2 has a first connecting portion 21 and a second connecting portion 22; the first rotary driver 41 is connected to the first rotary reducer 42, the first rotary reducer 42 is mounted on the connecting arm 1, the drive shaft of the first rotary reducer 42 passes through the first mating portion and the first connecting portion 21, and the drive shaft of the first rotary reducer 42 and the first mating portion are rotatably connected through the first bearing assembly, and the drive shaft of the first rotary reducer 42 and the first connecting portion 21 are fixedly connected; the first driven shaft 43 passes through the second mating portion and the second connecting portion 22, and the first driven shaft 43 and the second mating portion are rotatably connected through the first bearing assembly, and the first driven shaft 43 and the second connecting portion 22 are fixedly connected; the rotary arm 2 is driven to rotate by the first rotary driver 41 via the first rotary reducer 42.

[0033] Furthermore, such as Figure 4As shown, the first bearing assembly includes a first bearing 44 and a second bearing 45. The first bearing 44 is installed between the first mating portion and the drive shaft of the first rotary reducer 42, and the second bearing 45 is installed between the second mating portion and the first driven shaft 43. Specifically, the first mating portion is formed by two first connecting lugs 11 on the connecting arm 1, and the second mating portion is formed by two second connecting lugs 12 on the connecting arm 1. The first connecting portion 21 is located between the two first connecting lugs 11, and the drive shaft of the first rotary reducer 42 passes through the two first connecting lugs 11 and the first connecting portion 21. The second connecting portion 22 is located between the two second connecting lugs 12, and the first driven shaft 43 passes through the two second connecting lugs 12 and the second connecting portion 22. There are two first bearings 44 and two second bearings 45. The two first bearings 44 are arranged one-to-one between the two first connecting lugs 11 and the drive shaft of the first rotary reducer 42, and the two second bearings 45 are arranged one-to-one between the two second connecting lugs 12 and the first driven shaft 43. In this specific embodiment, the first bearing 44 disposed between the lower first connecting lug 11 and the drive shaft of the first rotary reducer 42 is a thrust bearing to bear the weight of the entire rotary arm 2. It should be noted that the first bearing 44 disposed between the lower first connecting lug 11 and the drive shaft of the first rotary reducer 42 is used to bear the weight of the entire rotary arm 2, and the use of a thrust bearing is only a preferred option.

[0034] Furthermore, such as Figure 4 As shown, the second rotary drive mechanism includes a second rotary driver 51, a second rotary reducer 52, a second driven shaft 53, and a second bearing assembly; the other end of the rotary arm 2 has a third docking portion and a fourth docking portion; one end of the telescopic arm 3 has a third connecting portion 34 and a fourth connecting portion 35; the second rotary driver 51 is connected to the second rotary reducer 52, the second rotary reducer 52 is mounted on the rotary arm 2, the drive shaft of the second rotary reducer 52 passes through the third docking portion and the third connecting portion 34, and the drive shaft of the second rotary reducer 52 is rotatably connected to the third docking portion through the second bearing assembly, and the drive shaft of the second rotary reducer 52 and the third connecting portion 34 are fixedly connected; the second driven shaft 53 passes through the fourth docking portion and the fourth connecting portion 35, and the second driven shaft 53 and the fourth docking portion are rotatably connected through the second bearing assembly, and the second driven shaft 53 and the fourth connecting portion 35 are fixedly connected; the telescopic arm 3 is driven to rotate by the second rotary driver 51 via the second rotary reducer 52.

[0035] Furthermore, such as Figure 4As shown, the second bearing assembly includes a third bearing 54 and a fourth bearing 55. The third bearing 54 is installed between the third mating portion and the drive shaft of the second rotary reducer 52; the fourth bearing 55 is installed between the fourth mating portion and the second driven shaft 53. Specifically, the third mating portion is formed by two third connecting lugs 23 at the other end of the rotary arm 2, and the fourth mating portion is formed by two fourth connecting lugs 24 at the other end of the rotary arm 2. The third connecting portion 34 is located between the two third connecting lugs 23, and the drive shaft of the second rotary reducer 52 passes through the two third connecting lugs 23 and the third connecting portion 34; the fourth connecting portion 35 is located between the two fourth connecting lugs 24, and the second driven shaft 53 passes through the two fourth connecting lugs 24 and the fourth connecting portion 35. There are two third bearings 54 and two fourth bearings 55. The two third bearings 54 are located one-to-one between the two third connecting lugs 23 and the drive shaft of the second rotary reducer 52, and the two fourth bearings 55 are located one-to-one between the two fourth connecting lugs 24 and the second driven shaft 53. In this specific embodiment, the third bearing 54, located between the lower third connecting ear plate 23 and the drive shaft of the second rotary reducer 52, is a thrust bearing to bear the weight of the entire telescopic arm 3. It should be noted that the use of a thrust bearing for the third bearing 54 to bear the weight of the entire telescopic arm 3 is merely a preferred embodiment.

[0036] Furthermore, such as Figure 2 As shown, the telescopic arm 3 includes an outer arm 31, an inner arm 32, and a telescopic driver 33. The outer arm 31 is slidably sleeved on the inner arm 32. The telescopic driver 33 is installed on the outer arm 31. The driving end of the telescopic driver 33 is connected to the inner arm 32 to drive the inner arm 32 to slide along the length direction of the outer arm 31, thereby realizing the extension and retraction of the telescopic arm 3. The free end of the outer arm 31 is rotatably connected to the other end of the rotary arm 2 through a second rotary drive mechanism. The clamp assembly is installed on the free end of the inner arm 32.

[0037] The multifunctional robotic arm provided in this specific embodiment is used as follows: according to the target position, the first rotary driver 41 and the second rotary driver 51 are activated to drive the rotary arm 2 and the telescopic arm 3 to rotate precisely to the target angle. The telescopic driver 33 drives the inner arm 32 to extend and drive the clamp assembly to the designated position. After the clamp assembly clamps the tube column, the telescopic driver 33 drives the inner arm 32 to retract. Then, the first rotary driver 41 and the second rotary driver 51 drive the rotary arm 2 and the telescopic arm 3 to rotate to the junction position.

[0038] In the description of this utility model, it should be understood that the terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of indicated technical features. Therefore, a feature defined as "first" or "second" may explicitly or implicitly include one or more of that feature. In the description of this utility model, "a plurality of" means two or more, unless otherwise explicitly specified.

[0039] In this utility model, unless otherwise explicitly specified and limited, the terms "installation," "connection," "joining," and "fixing," etc., should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral part; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium; they can refer to the internal communication of two components or the interaction between two components. For those skilled in the art, the specific meaning of the above terms in this utility model can be understood according to the specific circumstances.

[0040] In this utility model, unless otherwise explicitly specified and limited, "above" or "below" the second feature can mean that the first feature is in direct contact with the second feature, or that the first feature is in indirect contact with the second feature through an intermediate medium. Furthermore, "above," "on top of," and "over" the second feature can mean that the first feature is directly above or diagonally above the second feature, or simply indicates that the first feature is at a higher horizontal level than the second feature. "Below," "below," and "beneath" the second feature can mean that the first feature is directly below or diagonally below the second feature, or simply indicates that the first feature is at a lower horizontal level than the second feature.

[0041] In the description of this specification, the terms "one embodiment," "some embodiments," "embodiment," "example," "specific example," or "some examples," etc., refer to specific features, structures, materials, or characteristics described in connection with that embodiment or example, which are included in at least one embodiment or example of the present invention. In this specification, the illustrative expressions of the above terms do not necessarily refer to the same embodiment or example. Furthermore, the specific features, structures, materials, or characteristics described may be combined in any suitable manner in one or more embodiments or examples. Moreover, without contradiction, those skilled in the art can combine and integrate the different embodiments or examples described in this specification, as well as the features of different embodiments or examples.

[0042] Although embodiments of the present invention have been shown and described above, it is understood that the above embodiments are exemplary and should not be construed as limiting the present invention. Those skilled in the art can make modifications, alterations, substitutions and variations to the above embodiments within the scope of the present invention.

Claims

1. A multifunctional robotic arm, characterized in that, It includes a connecting arm (1), a rotating arm (2), a telescopic arm (3), a first rotary drive mechanism, and a second rotary drive mechanism; One end of the rotary arm (2) is rotatably connected to the connecting arm (1) via the first rotary drive mechanism, and the telescopic arm (3) is rotatably connected to the other end of the rotary arm (2) via the second rotary drive mechanism. The clamp assembly is installed at the telescopic end of the telescopic arm (3). The first rotary drive mechanism can drive the rotary arm (2) to rotate in the horizontal plane, and the second rotary drive mechanism can drive the telescopic arm (3) to rotate in the horizontal plane. The telescopic arm (3) can extend and retract horizontally.

2. The multifunctional robotic arm as described in claim 1, characterized in that, The first rotary drive mechanism includes a first rotary driver (41), a first rotary reducer (42), a first driven shaft (43), and a first bearing assembly; The connecting arm (1) has a first docking part and a second docking part; one end of the rotating arm (2) has a first connecting part (21) and a second connecting part (22); The first rotary drive (41) is connected to the first rotary reducer (42), which is mounted on the connecting arm (1). The drive shaft of the first rotary reducer (42) passes through the first docking part and the first connecting part (21), and the drive shaft of the first rotary reducer (42) and the first docking part are rotatably connected by the first bearing assembly. The drive shaft of the first rotary reducer (42) and the first connecting part (21) are fixedly connected. The first driven shaft (43) passes through the second docking part and the second connecting part (22), and the first driven shaft (43) and the second docking part are rotatably connected by the first bearing assembly. The first driven shaft (43) and the second connecting part (22) are fixedly connected. The rotary arm (2) is driven to rotate by the first rotary driver (41) via the first rotary reducer (42).

3. The multifunctional robotic arm as described in claim 2, characterized in that, The first bearing assembly includes a first bearing (44) and a second bearing (45); The first bearing (44) is installed between the first mating part and the drive shaft of the first rotary reducer (42), and the second bearing (45) is installed between the second mating part and the first driven shaft (43).

4. The multifunctional robotic arm as described in claim 3, characterized in that, The connecting arm (1) has two first connecting lugs (11) and two second connecting lugs (12); Two first connecting lugs (11) are arranged horizontally to form a first mating part, and two second connecting lugs (12) are arranged horizontally to form two second mating parts; The first connecting part (21) is located between the two first connecting lugs (11), and the drive shaft of the first rotary reducer (42) passes through the two first connecting lugs (11) and the first connecting part (21); The second connecting part (22) is located between the two second connecting lugs (12), and the first driven shaft (43) passes through the two second connecting lugs (12) and the second connecting part (22); The number of first bearings (44) and second bearings (45) is at least two. The two first bearings (44) are arranged one-to-one between the two first connecting lugs (11) and the transmission shaft of the first rotary reducer (42). The two second bearings (45) are arranged one-to-one between the two second connecting lugs (12) and the first driven shaft (43).

5. The multifunctional robotic arm as described in claim 1, characterized in that, The second rotary drive mechanism includes a second rotary driver (51), a second rotary reducer (52), a second driven shaft (53), and a second bearing assembly; The other end of the slewing arm (2) has a third docking part and a fourth docking part; one end of the telescopic arm (3) has a third connecting part (34) and a fourth connecting part (35); The second rotary drive (51) is connected to the second rotary reducer (52), which is mounted on the rotary arm (2). The drive shaft of the second rotary reducer (52) passes through the third docking part and the third connecting part (34), and the drive shaft of the second rotary reducer (52) is rotatably connected to the third docking part through the second bearing assembly. The drive shaft of the second rotary reducer (52) and the third connecting part (34) are fixedly connected. The second driven shaft (53) passes through the fourth docking part and the fourth connecting part (35), and the second driven shaft (53) and the fourth docking part are rotatably connected through the second bearing assembly. The second driven shaft (53) and the fourth connecting part (35) are fixedly connected. The telescopic arm (3) is driven to rotate by the second rotary driver (51) via the second rotary reducer (52).

6. The multifunctional robotic arm as described in claim 5, characterized in that, The second bearing assembly includes a third bearing (54) and a fourth bearing (55); The third bearing (54) is installed between the third docking part and the drive shaft of the second rotary reducer (52); the fourth bearing (55) is installed between the fourth docking part and the second driven shaft (53).

7. The multifunctional robotic arm as described in claim 6, characterized in that, The other end of the slewing arm (2) has two third connecting lugs (23) and two fourth connecting lugs (24); Two third connecting lugs (23) are arranged horizontally to form a third mating part, and two fourth connecting lugs (24) are arranged horizontally to form two fourth mating parts; The third connecting part (34) is located between the two third connecting lugs (23), and the drive shaft of the second rotary reducer (52) passes through the two third connecting lugs (23) and the third connecting part (34); The fourth connecting part (35) is located between the two fourth connecting lugs (24), and the second driven shaft (53) passes through the two fourth connecting lugs (24) and the fourth connecting part (35); There are two third bearings (54) and two fourth bearings (55). The two third bearings (54) are located one-to-one between the two third connecting lugs (23) and the drive shaft of the second rotary reducer (52). The two fourth bearings (55) are located one-to-one between the two fourth connecting lugs (24) and the second driven shaft (53).

8. The multifunctional robotic arm as described in claim 1, characterized in that, The telescopic arm (3) includes an outer arm (31), an inner arm (32), and a telescopic driver (33). The outer arm (31) is slidably sleeved on the inner arm (32). The telescopic driver (33) is installed on the outer arm (31). The driving end of the telescopic driver (33) is connected to the inner arm (32) to drive the inner arm (32) to slide along the length direction of the outer arm (31) to achieve extension and retraction. The free end of the outer arm (31) is rotatably connected to the other end of the rotary arm (2) via a second rotary drive mechanism, and the clamp assembly is mounted on the free end of the inner arm (32).

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