Mechanical arm

Abstract

The utility model belongs to the technical field of mechanical arms, and particularly relates to a mechanical arm which comprises a rack, a swing arm device and a clamping device. The swing arm device comprises a mounting frame mounted on the rack; the lower end of the swing arm is rotationally arranged on the fixing shaft of the mounting frame, and a connecting shaft is rotationally arranged at the upper end of the swing arm and movably connected with the clamping device; the lower end of the connecting rod mechanism is mounted on the fixed shaft, and the upper end of the connecting rod mechanism is movably connected with the connecting shaft; a driving mechanism; the driving mechanism comprises a first driving part, a second driving part and a third driving part, one end of the transmission part is connected with the driving end of the driving part I and is positioned beside the fixed shaft, and the other end is movably connected with the swinging arm through a transmission structure; when the first driving piece drives the transmission piece to rotate, the transmission piece drives the swing arm to rotate with the fixing shaft as the circle center. The transmission part serves as a middle transmission part, the load borne by the driving shaft of the first driving part is effectively dispersed, the abrasion risk of the driving shaft is reduced, and the overall durability of the system is improved.

Description

TECHNICAL FIELD

[0001] The technical scheme relates to the technical field of mechanical arms, in particular to a mechanical arm. BACKGROUND

[0002] The mechanical arm is a mechanical device with multiple joints or multiple degrees of freedom, which can be used to repeatedly perform a predetermined action to complete or assist production activities.

[0003] As disclosed in Chinese Patent CN202221663477.4, a multi-degree-of-freedom mechanical arm based on an ultrasonic motor and Chinese Patent CN202020425868.7, a mechanical arm and a rotary mechanical arm, the existing mechanical arm still has some deficiencies:

[0004] 1. The existing mechanical arm generally adopts a direct connection of the driving shaft of the motor to drive the swing arm to rotate, and the driving shaft of the motor directly bears the full load of the swing arm. When the load is too large or the stress is uneven, the driving shaft is prone to damage or accelerated wear. In addition, direct driving may result in low transmission efficiency, as the output torque of the motor needs to directly overcome the inertia of the swing arm and external load, which not only increases energy consumption, but also reduces the positioning accuracy of the swing arm, and even causes the mechanical arm to lose control, thereby affecting the stability and reliability of the mechanical arm.

[0005] 2. In the material position conversion process, in order to maintain the attitude of the material as a set inclination angle or unchanged, the existing technology needs to install a sensor on the gripper device, and drive the gripper device to rotate by a motor to offset the inclination angle change in motion. This process relies on complex algorithms to ensure that the gripper device can accurately rotate according to the feedback of the sensor, resulting in complex structure, high cost, and hysteresis problem. The active rotation of the gripper device often cannot accurately match the actual angle, thereby causing the inclination angle of the material to change, affecting the accuracy and stability of the material transfer. SUMMARY

[0006] The purpose of the technical scheme is to provide a mechanical arm, which is rotated by a swing arm arranged on a fixed shaft, and a transmission member drives the swing arm to swing, dispersing the stress of the driving member and the driving shaft, and improving the problem of excessive load stress when the swing arm is directly connected and rotated by the driving shaft of the motor.

[0007] The purpose of the technical scheme is achieved as follows:

[0008] A mechanical arm, comprising:

[0009] a rack;

[0010] a swing arm device installed on the rack;

[0011] A clamping device is installed on the swing arm device for clamping materials.

[0012] The swing arm device comprises:

[0013] A mounting frame is installed on the rack;

[0014] A swing arm is rotatably arranged at the lower end of the mounting frame on a fixed shaft, and the upper end of the swing arm is rotatably arranged with a connecting shaft, which is movably connected to the clamping device;

[0015] A connecting rod mechanism is installed at the lower end of the fixed shaft, and the upper end of the connecting rod mechanism is movably connected to the connecting shaft;

[0016] A driving mechanism is installed on the mounting frame for driving the swing arm to swing;

[0017] The driving mechanism comprises:

[0018] A driving member one is installed on the mounting frame;

[0019] A transmission member is connected at one end of the driving end of the driving member one and located beside the fixed shaft, and the other end is movably connected to the swing arm through a transmission structure;

[0020] When the driving member one drives the transmission member to rotate, the transmission member drives the swing arm to rotate around the fixed shaft as the center.

[0021] Preferably, the transmission structure comprises:

[0022] A slide rail one is installed on the swing arm, and a slide block one is slidably arranged on the slide rail one, and the end of the transmission member is hinged on the slide block one;

[0023] When the driving member one drives the transmission member to rotate, the transmission member makes the slide block one slide on the slide rail one, and makes the slide block one drive the swing arm to rotate around the fixed shaft as the center.

[0024] Alternatively, the transmission structure comprises:

[0025] A sliding groove is formed in the swing arm;

[0026] A sliding shaft is installed at the end of the transmission member, and the sliding shaft is slidably arranged in the sliding groove.

[0027] Preferably, a limiting plate is arranged on the mounting frame, the limiting plate is located between the fixed shaft and the transmission member, and the limiting plate is provided with an avoiding groove for avoiding the slide block one.

[0028] Preferably, the connecting rod mechanism comprises:

[0029] a first fixing member, which is relatively stationary connected to the fixed shaft;

[0030] a second fixing member, which is movably connected to the connecting shaft;

[0031] at least one connecting rod, which is hingedly connected to the first fixing member and the second fixing member respectively;

[0032] when the driving mechanism drives the swing arm to swing around the fixed shaft, the first fixing member makes the connecting shaft rotate on the swing arm through the connecting rod and the second fixing member.

[0033] Preferably, when the connecting rod mechanism has two connecting rods, the two connecting rods are arranged in parallel to each other, and the first fixing member and the second fixing member are arranged in parallel.

[0034] Preferably, the second fixing member is relatively stationary arranged with the connecting shaft;

[0035] when the swing arm swings, the second fixing member makes the connecting shaft rotate on the swing arm, so that the clamping device keeps a set angle;

[0036] Alternatively, the second fixing member is provided with a driving shaft, the driving shaft is rotatably arranged on the swing arm, and the driving shaft is connected with the connecting shaft through a transmission assembly;

[0037] when the swing arm swings, the driving shaft makes the connecting shaft rotate on the swing arm through the transmission assembly, so that the clamping device rotates a set angle.

[0038] Preferably, the transmission assembly comprises:

[0039] a first gear, which is mounted on the driving shaft;

[0040] a second gear, which is mounted on the connecting shaft, and the second gear is meshingly connected with the first gear.

[0041] Preferably, the clamping device comprises:

[0042] a fourth driving member, which is mounted on the swing arm device;

[0043] two oppositely arranged clamping claws, which are movably connected to the driving end of the fourth driving member;

[0044] wherein, the driving end of the fourth driving member is provided with a fixing frame, the fixing frame is provided with a protruding strip, a sliding member is slidingly arranged on the protruding strip, and the sliding member is connected to the clamping claws;

[0045] The sliding member is provided with a groove matched with the convex strip, and a strip-shaped hole is arranged on the sliding member, and the end of the fastener passes through the strip-shaped hole and is connected with the fixing frame.

[0046] Preferably, the lifting device is installed on the rack and connected with the swing arm device.

[0047] The lifting device comprises:

[0048] The driving member two is installed on the rack;

[0049] The gear three is installed on the driving end of the driving member two;

[0050] The rack is vertically arranged on the mounting rack, and the rack is engaged with the gear three;

[0051] The slide rail two is vertically arranged on the mounting rack, and the slide block two is slidingly arranged on the slide rail two, and the slide block two is movably connected with the rack;

[0052] When the driving member two drives the gear three to rotate, the gear three drives the rack to move, so that the mounting rack moves on the rack.

[0053] Preferably, the moving device is installed on the swing arm device and connected with the clamping device.

[0054] The moving device comprises:

[0055] The connecting frame is installed on the connecting shaft;

[0056] The sliding frame is slidingly arranged on the connecting frame, and the clamping device is movably connected with the sliding frame on the sliding frame;

[0057] The driving member three is installed on the connecting frame, and the driving end of the driving member three is movably connected with the sliding frame.

[0058] The technical scheme has the following prominent and beneficial technical effects compared with the prior art:

[0059] 1、The swing arm is rotatably arranged on the fixed shaft in the technical scheme, the transmission member drives the swing arm to swing, the stress of the driving shaft of the driving member one is dispersed, the transmission member serves as an intermediate transmission component, can effectively disperse the load borne by the driving shaft of the driving member one, reduces the wear risk of the driving shaft, improves the overall durability of the system, optimizes the transmission path of the transmission member, improves the transmission efficiency, makes the driving member one can more effectively output torque, drives the swing arm to swing, and ensures the stability.

[0060] 2、The fixed part one, the fixed part two and the connecting rod can make the clamping device not rotate with the swing arm no matter the swing arm swings to what angle, ensure the stability of the material clamping, do not need to additionally set sensors and motors to adjust the angle of the clamping device, simplify the overall structure, and reduce the manufacturing cost.

[0061] 3、The connecting shaft is rotated through the cooperation of the rotating shaft and the transmission assembly, so that the clamping device rotates to a set angle, so that the material moving operation of the material that needs to be turned over or rotated by a certain angle can be adapted, the adaptability is improved, and the structure is simple; meanwhile, the angle of the clamping device rotating can be adjusted by replacing different gear one and gear two, so that the clamping device can adapt to the material moving demand of different angles.

[0062] 4、The mechanical arm is convenient to install and replace, can be adapted to different mother machines (i.e. machines of other stations), has few parts, and increases the service life. BRIEF DESCRIPTION OF DRAWINGS

[0063] Figure 1 It is a structure schematic view of the mechanical arm of the technical scheme.

[0064] Figure 2 It is a structure schematic view of the mechanical arm of the technical scheme.

[0065] Figure 3 It is a front view of the mechanical arm of the technical scheme.

[0066] Figure 4 It is a structure schematic view of the mechanical arm of the technical scheme.

[0067] Figure 5 It is a structure schematic view of the lifting device of the technical scheme.

[0068] Figure 6 It is a sectional view of the lifting device of the technical scheme.

[0069] Figure 7 It is a structure schematic view of the moving device and the clamping device of the technical scheme.

[0070] Figure 8 It is a structure schematic view of the second mechanical arm of the technical scheme.

[0071] Figure 9 It is a structure schematic view of the transmission assembly of the technical scheme.

[0072] Reference signs: 1, rack;

[0073] 2, lifting device; 21, driving part two; 22, gear three; 23, rack; 24, sliding rail two; 25, sliding block two;

[0074] 3. swing arm device; 31. mounting frame; 32. swing arm; 33. fixed shaft; 34. connecting shaft;

[0075] 4. moving device; 41. connecting frame; 42. sliding frame; 43. driving member three;

[0076] 5. clamping device; 51. driving member four; 52. clamping claw; 53. fixed frame; 54. convex strip; 55. sliding member; 56. groove; 57. strip-shaped hole;

[0077] 6. connecting rod mechanism; 61. fixed member one; 62. fixed member two; 63. connecting rod; 64. driving shaft; 65. transmission assembly; 651. gear one; 652. gear two;

[0078] 7. driving mechanism; 71. driving member one; 72. sliding rail one; 73. sliding block one; 74. transmission member; 75. limiting plate; 76. avoiding groove. DETAILED DESCRIPTION

[0079] The specific embodiments of the technical solution will be further described in detail below with reference to the accompanying drawings.

[0080] Example one:

[0081] In combination with Figure 1 , Figure 2 and Figure 4 , a mechanical arm comprises:

[0082] a rack 1;

[0083] a swing arm device 3 installed on the rack 1;

[0084] a clamping device 5 installed on the swing arm device 3 for clamping materials;

[0085] wherein the swing arm device 3 comprises:

[0086] a mounting frame 31 installed on the rack 1;

[0087] a swing arm 32, the lower end of which is rotatably arranged on the fixed shaft 33 of the mounting frame 31 through a bearing, and the upper end of the swing arm 32 is rotatably provided with a connecting shaft 34, and the connecting shaft 34 is connected with the clamping device 5 through screws or bolts;

[0088] a connecting rod mechanism 6, the lower end of which is installed on the fixed shaft 33, and the upper end of the connecting rod mechanism 6 is movably connected with the connecting shaft 34;

[0089] a driving mechanism 7 installed on the mounting frame 31 for driving the swing arm 32 to swing;

[0090] wherein the driving mechanism 7 comprises:

[0091] The driving member 71, which is a motor or a rotary cylinder, is installed on the mounting frame 31.

[0092] The transmission member 74, one end of which is connected to the driving end (driving shaft) of the driving member 71 and located beside the fixed shaft 33, and the other end of which is movably connected to the swing arm 32 through a transmission structure.

[0093] When the driving shaft of the driving member 71 drives the transmission member 74 to rotate, the transmission member 74 drives the swing arm 32 to rotate around the fixed shaft 33 as the center.

[0094] The fixed shaft 33 is installed on the mounting frame 31, which can effectively disperse the load borne by the driving shaft of the driving member 71, reduce the risk of wear of the driving shaft, and improve the overall durability of the system.

[0095] As shown in Figure 4 , the transmission structure comprises:

[0096] The sliding rail 72 is installed in the length direction of the swing arm 32, and the sliding block 73 is slidably arranged on the sliding rail 72. One end of the transmission member 74 is connected to the driving end of the driving member 71, and the other end of the transmission member 74 is hingedly connected to the sliding block 73.

[0097] When the driving member 71 drives the transmission member 74 to rotate, the transmission member 74 drives the sliding block 73 to slide on the sliding rail 72, and drives the swing arm 32 to rotate around the fixed shaft 33 as the center.

[0098] Alternatively, the transmission structure comprises:

[0099] The sliding groove is arranged on the swing arm 32.

[0100] The sliding shaft is installed at the end of the transmission member 74 and slidably arranged in the sliding groove. The swing arm 32 is driven to swing by the abutment of the sliding shaft and the side wall of the sliding groove.

[0101] In combination with Figure 1 , Figure 2 and Figure 4 , the mounting frame 31 is provided with a limiting plate 75 located between the fixed shaft 33 and the transmission member 74. The limiting plate 75 is provided with an avoiding groove 76 for avoiding the sliding block 73. The limiting plate 75 can avoid the transmission member 74 from rotating downward too much to cause the clamping device 5 to touch the ground, thereby ensuring the safety and stability of the swing of the swing arm 32.

[0102] In combination with Figure 2 and Figure 3 , the connecting rod mechanism 6 comprises:

[0103] The first fixing part 61 is relatively stationary connected to the fixed shaft 33, the first fixing part 61 is sleeved on the fixed shaft 33, the inner wall of the first fixing part 61 and the inner wall of the fixed shaft 33 are provided with a rotation limiting groove, a rotation limiting block is inserted into the rotation limiting groove, the first fixing part 61 is installed on the fixed shaft 33, and rotation of the first fixing part 61 on the fixed shaft 33 is avoided;

[0104] The second fixing part 62 is movably connected to the connecting shaft 34;

[0105] The at least one connecting rod 63 is hingedly connected to the first fixing part 61 and the second fixing part 62 at both ends;

[0106] When the driving mechanism 7 drives the swing arm 32 to swing with the fixed shaft 33 as the center, the first fixing part 61 rotates the connecting shaft 34 on the swing arm 32 through the connecting rod 63 and the second fixing part 62.

[0107] In combination Figure 2 And Figure 3 When the connecting rod mechanism 6 has two connecting rods 63, the two connecting rods 63 are arranged in parallel, and the first fixing part 61 and the second fixing part 62 are arranged in parallel, so that the stability of the transmission of the connecting rod mechanism 6 is improved.

[0108] In the embodiment, the second fixing part 62 is relatively stationary connected to the connecting shaft 34, that is, the second fixing part 62 does not rotate on the connecting shaft 34;

[0109] When the swing arm 32 swings, the second fixing part 62 rotates the connecting shaft 34 on the swing arm 32, so that the clamping device 5 maintains a set angle, and rotation of the clamping device 5 due to swinging of the swing arm 32 is avoided, so that the material clamped by the clamping device 5 can always maintain a set angle during movement, and tilting of the material is avoided.

[0110] As Figure 7 The clamping device 5 is a parallel jaw, which comprises:

[0111] The fourth driving part 51 is a cylinder or a linear motor, which is installed on the swing arm device 3;

[0112] The two oppositely arranged clamping jaws 52 are movably connected to the driving end of the fourth driving part 51;

[0113] The driving end of the fourth driving part 51 is provided with a fixing frame 53, the fixing frame 53 is provided with a convex strip 54, the convex strip 54 is slidably provided with a sliding part 55, and the sliding part 55 is connected to the clamping jaw 52;

[0114] The sliding part 55 is provided with a groove 56 matched with the convex strip 54, and the sliding part 55 is provided with a strip-shaped hole 57, and the end of a fastener (a bolt or a screw or a bolt) passes through the strip-shaped hole 57 and is connected with the fixing frame 53.

[0115] in combination with Figure 5 and Figure 6 a lifting device 2, which is installed on the frame 1 and connected with the swing arm device 3;

[0116] The lifting device 2 comprises:

[0117] a driving member two 21, which is a motor or a rotary cylinder and is installed on the frame 1;

[0118] a gear three 22, which is installed on the driving end of the driving member two 21;

[0119] a rack 23, which is vertically arranged on the mounting frame 31 and is engaged with the gear three 22;

[0120] a slide rail two 24, which is vertically arranged on the mounting frame 31 and has a slide block two 25 slidingly arranged thereon, the slide block two 25 being movably connected with the frame 1;

[0121] When the driving member two 21 drives the gear three 22 to rotate, the gear three 22 drives the rack 23 to move, so that the mounting frame 31 moves on the frame 1.

[0122] in combination with Figure 7 a moving device 4, which is installed on the swing arm device 3 and connected with the clamping device 5;

[0123] The moving device 4 comprises:

[0124] a connecting frame 41, which is installed on the connecting shaft 34;

[0125] a sliding frame 42, which is slidingly arranged on the connecting frame 41 and movably connected with the clamping device 5;

[0126] a driving member three 43, which is a cylinder or a linear motor or an electric push rod and is installed on the connecting frame 41, and the driving end of the driving member three 43 is movably connected with the sliding frame 42.

[0127] The mechanical arm of the design scheme is easy to install and replace, has a simple structure, has low requirements on the original other station machines, does not need other conveying equipment to assist in material transfer, and simplifies the operation difficulty through the connecting rod mechanism 6.

[0128] Embodiment Two:

[0129] The design scheme of this embodiment is basically the same as that of Embodiment One, and the difference lies in that:

[0130] in combination with Figure 8 and Figure 9The fixing member two 62 is provided with a driving shaft 64, and the fixing member two 62 and the driving shaft 64 are relatively stationary, that is, the fixing member two 62 does not rotate on the driving shaft 64, and the driving shaft 64 is rotatably arranged on the swing arm 32 through a bearing, and the driving shaft 64 is connected with the connecting shaft 34 through a transmission assembly 65;

[0131] When the swing arm 32 swings, the driving shaft 64 drives the connecting shaft 34 to rotate on the swing arm 32 through the transmission assembly 65, so that the clamping device 5 rotates by a set angle.

[0132] The transmission assembly 65 comprises:

[0133] A gear one 651 is fixedly installed on the driving shaft 64;

[0134] A gear two 652 is installed on the connecting shaft 34, and the gear two 652 is relatively stationary with the connecting shaft 34, and the gear two 652 is meshingly connected with the gear one 651;

[0135] When the swing arm 32 swings, the fixing member two 62 does not rotate, so that the driving shaft 64 rotates relative to the swing arm 32, the gear one 651 drives the gear two 652 to rotate, so that the connecting shaft 34 drives the clamping device 5 to rotate, thereby realizing the movement of the mechanical arm adapting to the material to be turned over;

[0136] By replacing different gear one 651 and gear two 652, different rotating effects of the clamping device 5 can be realized, so as to meet the movement needs of different material turning angles.

[0137] Alternatively, the transmission assembly 65 can adopt chain and gear connection, or transmission belt connection, or drive rotation through friction force through two rotating wheels.

[0138] The basic principles and main features of the technical scheme and the advantages of the technical scheme are shown and described above. It should be understood by those skilled in the art that the technical scheme is not limited by the above embodiments, and the above embodiments and descriptions in the specification are only to illustrate the principles of the technical scheme. Without departing from the spirit and scope of the technical scheme, various changes and improvements of the technical scheme can be made, and these changes and improvements all fall within the scope of the claimed technical scheme. The scope of protection of the technical scheme is defined by the appended claims and their equivalents.

[0139] It is to be understood that the structures, proportions, sizes, etc. shown in the drawings related to the disclosed content for understanding and reading by those skilled in the art, and are not used to limit the conditions that can be implemented by the technical solutions, and therefore do not have technical significance. Any modification of the structure, change of the proportional relationship or adjustment of the size, without affecting the effects and purposes that can be achieved by the technical solutions, should still fall within the scope of the technical content disclosed by the technical solutions. At the same time, the terms such as "upper", "lower", "left", "right", "middle" and "one" in the specification are only for clear description, and are not used to limit the scope of the technical solutions, and the change or adjustment of the relative relationship without substantial change of the technical content is also considered as the scope of the technical solutions.

[0140] It is also necessary to point out that when an element is referred to as "fixed to" or "disposed on" another element, it can be directly on another element or there can be a middle element. When an element is referred to as "connected" to another element, it can be directly connected to another element or indirectly connected to another element through a middle element.

[0141] In addition, the description involving "first", "second" and the like in the present application is only for the purpose of description, and cannot be understood as indicating or implying the relative importance of the indicated technical features or implicitly indicating the number of the indicated technical features. Therefore, the features limited by "first", "second" can explicitly or implicitly include at least one of the features. In addition, the technical solutions of various embodiments can be combined with each other, but it must be based on the realization of ordinary skilled in the art, when the combination of technical solutions appears contradictory or unachievable, it should be considered that the combination of technical solutions does not exist, nor within the scope of protection required by the present application.

Claims

1. A robotic arm, characterized in that, include: Rack (1); A swing arm device (3) is mounted on the frame (1); A clamping device (5) is mounted on the swing arm device (3) for clamping materials; The swing arm device (3) includes: Mounting bracket (31), which is mounted on the frame (1); The swing arm (32) has its lower end rotatably mounted on the fixed shaft (33) of the mounting bracket (31), and its upper end is rotatably mounted with a connecting shaft (34), which is movably connected to the clamping device (5). A linkage mechanism (6) is mounted on the fixed shaft (33) at its lower end, and the upper end of the linkage mechanism (6) is movably connected to the connecting shaft (34); A drive mechanism (7), which is mounted on a mounting bracket (31), is used to drive the swing arm (32) to swing. The drive mechanism (7) includes: Drive component 1 (71) is mounted on the mounting bracket (31); The transmission component (74) has one end connected to the driving end of the driving component (71) and located beside the fixed shaft (33), and the other end is movably connected to the swing arm (32) through the transmission structure. When the driving component (71) drives the transmission component (74) to rotate, the transmission component (74) drives the swing arm (32) to rotate around the fixed shaft (33) as the center.

2. The robotic arm according to claim 1, characterized in that: The transmission structure includes: A slide rail (72) is mounted on the swing arm (32), and a slider (73) is slidably disposed on the slide rail (72). The end of the transmission member (74) is hinged to the slider (73). When the driving member (71) drives the transmission member (74) to rotate, the transmission member (74) causes the slider (73) to slide on the slide rail (72), and causes the slider (73) to drive the swing arm (32) to rotate around the fixed shaft (33) as the center. Alternatively, the transmission structure may include: A sliding groove is formed on the swing arm (32); A sliding shaft is mounted on the end of the transmission member (74) and is slidably placed in the sliding groove.

3. The robotic arm according to claim 2, characterized in that: The mounting bracket (31) is provided with a limiting plate (75), which is located between the fixed shaft (33) and the transmission member (74). The limiting plate (75) is provided with a clearance groove (76) to avoid the slider (73).

4. A robotic arm according to any one of claims 1-3, characterized in that: The linkage mechanism (6) includes: Fixing member 1 (61) is relatively stationary and connected to the fixed shaft (33); Fixing member two (62) is movably connected to the connecting shaft (34); At least one connecting rod (63) has its two ends hinged to the first fixing member (61) and the second fixing member (62), respectively; When the drive mechanism (7) drives the swing arm (32) to swing around the fixed shaft (33) as the center, the first fixing member (61) causes the connecting shaft (34) to rotate on the swing arm (32) through the connecting rod (63) and the second fixing member (62).

5. A robotic arm according to claim 4, characterized in that: When the linkage mechanism (6) has two links (63), the two links (63) are arranged in parallel to each other, and the first fixing member (61) and the second fixing member (62) are arranged in parallel.

6. A robotic arm according to claim 4, characterized in that: The second fixing member (62) is stationary relative to the connecting shaft (34); When the swing arm (32) swings, the second fixing member (62) causes the connecting shaft (34) to rotate on the swing arm (32), thereby enabling the clamping device (5) to maintain a set angle. Alternatively, the second fixing member (62) is provided with a drive shaft (64), which is rotatably mounted on the swing arm (32), and the drive shaft (64) is connected to the connecting shaft (34) through a transmission assembly (65); When the swing arm (32) swings, the drive shaft (64) causes the connecting shaft (34) to rotate on the swing arm (32) through the transmission assembly (65), thereby causing the clamping device (5) to rotate by a set angle.

7. A robotic arm according to claim 6, characterized in that: The transmission assembly (65) includes: Gear 1 (651) is mounted on the drive shaft (64); Gear 2 (652) is mounted on the connecting shaft (34) and meshes with gear 1 (651).

8. A robotic arm according to claim 1, characterized in that: The clamping device (5) includes: Drive component four (51) is mounted on the swing arm device (3); Two opposing gripping claws (52) are movably connected to the drive end of the drive unit four (51); Among them, a fixed frame (53) is provided on the driving end of the driving component four (51), a protrusion (54) is provided on the fixed frame (53), a sliding member (55) is slidably provided on the protrusion (54), and the sliding member (55) is connected to the clamping claw (52). The sliding member (55) is provided with a groove (56) that cooperates with the protrusion (54), and the sliding member (55) is provided with a strip hole (57), through which the end of the fastener passes through the strip hole (57) and is connected to the fixing frame (53).

9. A robotic arm according to claim 1, 2, 3, 5, 6, or 7, characterized in that, Also includes: A lifting device (2) is mounted on the frame (1) and connected to the swing arm device (3); The lifting device (2) includes: Drive component two (21) is mounted on the frame (1); Gear three (22), which is mounted on the drive end of the drive component two (21); A rack (23) is vertically mounted on the mounting bracket (31), and the rack (23) meshes with the gear three (22); The slide rail 2 (24) is vertically mounted on the mounting frame (31), and the slide rail 2 (24) is slidably mounted with a slider 2 (25), which is movably connected to the frame (1); When the second driving component (21) drives the third gear (22) to rotate, the third gear (22) drives the rack (23) to move, thereby causing the mounting bracket (31) to move on the frame (1).

10. A robotic arm according to any one of claims 1, 2, 3, 5, 6, 7, or 8, characterized in that, Also includes: A moving device (4) is mounted on the swing arm device (3) and connected to the clamping device (5); The mobile device (4) includes: A connecting bracket (41) is mounted on the connecting shaft (34); A sliding frame (42) is slidably disposed on the connecting frame (41), and the clamping device (5) is movably connected to the sliding frame (42); Drive component three (43) is mounted on the connecting frame (41), and the drive end of drive component three (43) is movably connected to the sliding frame (42).

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