Mechanical arm with angle-controllable end effector
By designing a robotic arm with controllable end effector angle, the problem of insufficient positional precision in a single-rail double-slider robotic arm was solved, achieving high-precision and flexible multi-degree-of-freedom motion, suitable for complex tasks and space utilization.
Patent Information
- Application Number
- CN202520517887.5
- Authority / Receiving Office
- CN · China
- Patent Type
- Utility models(China)
- Current Assignee / Owner
- Filing Date
- 2025-03-24
- Publication Date
- 2026-01-30
- Estimated Expiration
- 2035-03-24
AI Technical Summary
The existing single-rail double-slider robotic arm is not precise enough in positioning when performing tasks, which causes the task to fail to achieve the expected results.
A robotic arm with controllable end effector angle was designed, comprising a linear walking mechanism, a rotating mechanism, a lifting mechanism, an arm mechanism, and an end effector. Through the combination of these mechanisms, the end effector can achieve multi-degree-of-freedom motion, thereby improving motion accuracy and flexibility.
It achieves high-precision motion of the end effector, enabling it to complete complex curved motions and multi-directional operation tasks, while enhancing execution performance and space utilization efficiency.
Smart Images
Figure CN223849291U_ABST
Abstract
Description
Technical Field
[0001] This utility model belongs to the field of robotics technology, and relates to a robotic arm, and more particularly to a robotic arm with controllable end effector angle. Background Technology
[0002] A robotic arm is an automated device that achieves spatial positioning and manipulation tasks through multi-degree-of-freedom motion. Traditional robotic arms, based on bionic principles, typically consist of a base, joints, links, and an end effector, achieving flexible spatial movement capabilities through serial or parallel structures. Serial robotic arms offer a larger workspace and greater motion flexibility, while parallel robotic arms are characterized by high rigidity and high-speed motion, widely used in sorting, packaging, and other scenarios. In terms of drive technology, early robotic arms primarily relied on hydraulic or pneumatic systems. With advancements in motor technology and control theory, servo motors combined with precision reducers have become the mainstream design, significantly improving motion accuracy and response speed. The integration of transmission mechanisms with encoders and torque sensors further enables closed-loop control of joint position and speed. Currently, robotic arm technology has expanded from industrial manufacturing to fields such as medical surgery, space exploration, and service robots, becoming a core component of modern automation systems. Among them, the single-rail double-slider robotic arm, by combining a single rail and double sliders, provides accurate guidance for the robotic arm's movement, reducing swaying and deviation during motion, and possessing greater load-bearing capacity. However, existing monorail dual-slider robotic arms have the problem of insufficient precision in determining the position of the task to be performed, which results in the task not being completed as expected. Utility Model Content
[0003] This invention provides a robotic arm with a controllable end effector angle to overcome the shortcomings of the prior art.
[0004] To achieve the above objectives, the present invention adopts the following technical solution:
[0005] A robotic arm with an angle controllable end effector includes a linear travel mechanism, a rotating mechanism, a lifting mechanism, an arm mechanism, and an end effector. The rotating mechanism is mounted on the linear travel mechanism and drives the rotating mechanism to move linearly. The lifting mechanism is mounted on the rotating mechanism and drives the lifting mechanism to rotate. The arm mechanism includes a moving member, a main arm, an upper auxiliary arm, and a lower auxiliary arm. The moving member is mounted on the lifting mechanism and the lifting mechanism drives the moving member to move up and down. The main arm has a parallelogram structure with four rotatable connections at its four ends. The upper auxiliary arm is a telescopic member. The upper auxiliary arm is located above the lower auxiliary arm, and the rear ends of both the upper and lower auxiliary arms are rotatably connected to the moving member. The lower end of the rear side of the main arm is rotatably connected to the moving member, and the upper end is rotatably connected to the front end of the upper auxiliary arm. The lower side of the main arm is rotatably connected to the front end of the lower auxiliary arm. The end effector is fixed to the front side of the main arm.
[0006] To optimize the above technical solutions, the specific measures taken also include:
[0007] Further, the moving part includes an upper moving block and a lower moving block; the upper moving block and the lower moving block are both arranged on the lifting mechanism, the upper moving block is above the lower moving block, and the lifting mechanism can drive the upper moving block and the lower moving block to lift respectively; the upper moving block has a transverse part extending forward and a vertical part extending upward; the lower end of the rear side of the main arm is rotationally connected with the front end of the transverse part; the rear end of the upper auxiliary arm is rotationally connected with the upper end of the vertical part; and the rear end of the lower auxiliary arm is rotationally connected with the lower moving block.
[0008] Further, the lifting mechanism includes a bottom plate, a vertical column and two groups of lifting assemblies; the vertical column is vertically fixed on the bottom plate; the lifting assembly includes a lifting idler, a lifting synchronous wheel, a lifting synchronous belt and a lifting motor; the lifting idler is arranged at the upper end of the vertical column and can rotate relative to the vertical column; the lifting synchronous wheel and the lifting motor are both arranged on the bottom plate, the lifting synchronous wheel is below the lifting idler and is connected with the output shaft of the lifting motor, and the lifting motor can drive the lifting synchronous wheel to rotate; the lifting synchronous belt is sleeved on the lifting idler and the lifting synchronous wheel and can be driven to rotate by the lifting synchronous wheel; and the upper moving block and the lower moving block correspond to the two groups of lifting assemblies respectively, the upper moving block and the lower moving block are fixed with the corresponding lifting synchronous belts and move up and down with the rotation of the lifting synchronous belts.
[0009] Further, the lifting mechanism further includes a lifting guide rail; the lifting guide rail is arranged along the up-down direction and is fixed on the front side of the vertical column; the two lifting synchronous belts are arranged in front of and behind the lifting guide rail; the upper moving block and the lower moving block are both penetrated by the two lifting synchronous belts and are fixed with the corresponding lifting synchronous belts respectively, and the rear ends of the upper moving block and the lower moving block are both slidingly connected with the lifting guide rail.
[0010] Further, the rotating mechanism includes a support, a circular table bearing, an inner gear and an outer gear; the support is composed of a plurality of vertical support columns and a top plate fixed on the support columns; the circular table bearing is arranged above the support, and the outer ring is fixed with the top plate of the support through a pad; the inner gear is fixed in the inner ring of the circular table bearing and can rotate relative to the support; the outer gear is arranged in the inner gear and is in meshing with the inner gear and can be driven to rotate; and the bottom plate of the lifting mechanism is fixed on the inner gear.
[0011] Further, the rotating mechanism further includes a rotating motor; the rotating motor is fixed in the support, the output shaft thereof penetrates the top plate upward and is connected with the outer gear, and the rotating motor can drive the outer gear to rotate.
[0012] Further, the linear walking mechanism comprises a base, two linear walking rails and a supporting plate; the two linear walking rails are arranged along the front-rear direction and are fixed on the base; the two sides of the supporting plate are slidably connected with the two linear walking rails through sliding blocks and can move forward and backward along the linear walking rails; the support of the rotating mechanism is fixed on the supporting plate.
[0013] Further, the linear walking mechanism further comprises a walking assembly; the walking assembly comprises a walking idler wheel, a walking synchronous wheel, a walking synchronous belt and a walking motor; the walking idler wheel and the walking synchronous wheel are arranged at the front and rear ends of the base respectively; the walking idler wheel can rotate relative to the base; the walking motor is fixed on the base, the output shaft of the walking motor is connected with the walking synchronous wheel and can drive the walking synchronous wheel to rotate; the walking synchronous belt is sleeved on the walking idler wheel and the walking synchronous wheel and can be driven to rotate by the walking synchronous wheel; the supporting plate is fixed with the walking synchronous belt and moves forward and backward along with the rotation of the walking synchronous belt.
[0014] Further, the end effector is a gripper mechanism.
[0015] Further, the gripper mechanism comprises a fixing frame, an electric push rod, a shaft head connecting rod support and a plurality of gripper assemblies; the fixing frame is fixed at the lower end of the downward extending rod body of the front side of the main arm; the shaft cylinder of the electric push rod is fixed on the upper side of the fixing frame, and the shaft core penetrates through the fixing frame downwardly; the shaft head connecting rod support is fixed at the lower end of the shaft core of the electric push rod; the gripper assembly comprises a gripper connecting rod, a gripper connecting rod seat and a gripper; the upper end of the gripper connecting rod is rotationally connected with the fixing frame; the gripper connecting rod seat is L-shaped, one end of the gripper connecting rod seat is rotationally connected with the lower end of the gripper connecting rod, and the bending part is rotationally connected with the shaft head connecting rod support; the upper end of the gripper is rotationally connected with the other end of the gripper connecting rod seat.
[0016] The utility model discloses a kind of end effector angle controllable mechanical arms, the linear walking mechanism, rotating mechanism and lifting mechanism in it greatly improve the flexibility of mechanical arm movement, movement is more free in space, so as to complete complex curve movement and multi-directional operation task. BRIEF DESCRIPTION OF DRAWINGS
[0017] Figure 1 It is the structural schematic diagram of mechanical arm;
[0018] Figure 2 It is the structural schematic diagram of main arm;
[0019] Figure 3 This is a schematic diagram of the structure at the connection between the main arm and the upper auxiliary arm;
[0020] Figure 4 This is a schematic diagram of the upper moving block;
[0021] Figure 5 This is a schematic diagram of the lower moving block;
[0022] Figure 6 This is a structural diagram of the lifting mechanism;
[0023] Figure 7 This is a schematic diagram of the rotating mechanism;
[0024] Figure 8 This is a structural diagram of the circular table bearing, internal gear, and external gear in the rotating mechanism;
[0025] Figure 9 This is a schematic diagram of the linear motion mechanism;
[0026] Figure 10 This is a schematic diagram of the gripper mechanism. Detailed Implementation
[0027] The specific embodiments of this utility model are described below with reference to the accompanying drawings.
[0028] like Figure 1 As shown, this utility model provides a robotic arm with controllable end effector angle, including a linear travel mechanism 1, a rotation mechanism 2, a lifting mechanism 3, an arm mechanism 4, and an end effector.
[0029] The rotating mechanism 2 is mounted on the linear travel mechanism 1, which drives the rotating mechanism 2 to move linearly. The lifting mechanism 3 is mounted on the rotating mechanism 2, which drives the lifting mechanism 3 to rotate and move linearly with the rotating mechanism 2.
[0030] The boom mechanism 4 includes a movable component, a main boom 42, an upper auxiliary boom 431, and a lower auxiliary boom 432. The movable component is mounted on the lifting mechanism 3, which can drive the movable component to rise and fall, and rotate and move linearly with the lifting mechanism 3. Figure 1 and Figure 2 As shown, the main arm 42 has a parallelogram structure, and its four ends are rotatably connected, meaning the two sides forming the vertices are rotatably connected. The upper auxiliary arm 431 is a telescopic component, specifically a telescopic rod structure such as an electric actuator 52. The upper auxiliary arm 431 is located above the lower auxiliary arm 432, and the rear ends of both the upper auxiliary arm 431 and the lower auxiliary arm 432 are rotatably connected to the moving component. Figure 1 The direction of the middle arrow is forward. The lower end of the rear side of the main arm 42 is rotatably connected to the moving part, and the upper end is rotatably connected to the front end of the upper auxiliary arm 431, as shown below. Figure 3As shown. The middle part of the lower side of the main arm 42 is rotatably connected to the front end of the lower auxiliary arm 432. The end effector is fixed to the front side of the main arm 42.
[0031] The pitch angle of the end effector can be adjusted by controlling the extension and retraction of the upper arm 431. For example, when the upper arm 431 is shortened, the end effector rotates clockwise; when the upper arm 431 is extended, the end effector rotates counterclockwise.
[0032] In a preferred embodiment, such as Figure 1 , Figure 4 and Figure 5 As shown, the moving parts include an upper moving block 411 and a lower moving block 412. Both the upper moving block 411 and the lower moving block 412 are mounted on the lifting mechanism 3, with the upper moving block 411 positioned above the lower moving block 412. The lifting mechanism 3 can drive the upper moving block 411 and the lower moving block 412 to move up and down respectively. The upper moving block 411 has a forward-extending horizontal portion 4111 and an upward-extending vertical portion 4112. The lower end of the rear side of the main arm 42 is rotatably connected to the front end of the horizontal portion 4111. The rear end of the upper auxiliary arm 431 is rotatably connected to the upper end of the vertical portion 4112. The rear end of the lower auxiliary arm 432 is rotatably connected to the lower moving block 412. The lifting mechanism 3 can not only drive the entire arm mechanism 4 to move up and down, but also adjust the relative positions of the upper moving block 411 and the lower moving block 412, thereby changing the pitch angle of the end effector.
[0033] Regarding lifting mechanism 3: (as follows) Figure 1 and Figure 6 As shown, in one specific embodiment, the lifting mechanism 3 includes a base plate 31, a column 32, and two sets of lifting components. The column 32 is vertically fixed on the base plate 31. The lifting components include a lifting idler wheel 331, a lifting synchronous wheel 332, a lifting synchronous belt 333, and a lifting motor 334. The lifting idler wheel 331 is located at the upper end of the column 32 and can rotate relative to the column 32. The lifting synchronous wheel 332 and the lifting motor 334 are both located on the base plate 31. The lifting synchronous wheel 332 is located below the lifting idler wheel 331 and is connected to the output shaft of the lifting motor 334, which can drive the lifting synchronous wheel 332 to rotate. The lifting synchronous belt 333 is arranged in the vertical direction and is fitted onto the lifting idler wheel 331 and the lifting synchronous wheel 332, and can be driven by the lifting synchronous wheel 332.
[0034] The upper moving block 411 and the lower moving block 412 correspond one-to-one with the two sets of lifting components. The upper moving block 411 and the lower moving block 412 are fixed to the corresponding lifting synchronous belt 333 and move up and down with the operation of the lifting synchronous belt 333. The lifting motor 334 drives the lifting synchronous wheel 332 to rotate, and the lifting synchronous belt 333 rotates accordingly, driving the upper moving block 411 / lower moving block 412 fixed to it to achieve lifting movement.
[0035] Preferably, as shown in Figure 1 and Figure 6 The lifting mechanism 3 also includes a lifting guide rail 34. The lifting guide rail 34 is arranged in the up-down direction and fixed to the front side of the stand column 32. Two lifting synchronous belts 333 are arranged in front and back, and both are located on the front side of the lifting guide rail 34. The upper moving block 411 and the lower moving block 412 are both penetrated by the two lifting synchronous belts 333 and fixed with the corresponding lifting synchronous belts 333, while the rear ends are both in sliding connection with the lifting guide rail 34. The lifting guide rail 34 plays a guiding role in the lifting process of the upper moving block 411 and the lower moving block 412. Specifically, from the perspective of the front side, the upper moving block 411 is fixed with the front lifting synchronous belt 333 through the upper pressing block 4113 fixed to the lower side of the upper moving block 411, but not with the rear lifting synchronous belt 333, that is, it can still move relative to the rear lifting synchronous belt 333. From the perspective of the rear side, the lower moving block 412 is fixed with the rear lifting synchronous belt 333 through the lower pressing block 4121 fixed to the lower side of the lower moving block 412, but not with the front lifting synchronous belt 333, that is, it can still move relative to the front lifting synchronous belt 333. Figure 1 As can be seen, the upper moving block 411 is fixed with the front lifting synchronous belt 333 through the upper pressing block 4113 fixed to the lower side of the upper moving block 411, but not with the rear lifting synchronous belt 333, that is, it can still move relative to the rear lifting synchronous belt 333. The lower moving block 412 is fixed with the rear lifting synchronous belt 333 through the lower pressing block 4121 fixed to the lower side of the lower moving block 412, but not with the front lifting synchronous belt 333, that is, it can still move relative to the front lifting synchronous belt 333.
[0036] Regarding the rotating mechanism 2: as shown in Figure 1 , Figure 7 and Figure 8 In a specific embodiment, the rotating mechanism 2 includes a support 21, a circular table bearing 22, an inner gear 23 and an outer gear 24. The support 21 is composed of a plurality of vertically arranged support columns 211 and a top plate 212 fixed to the support columns 211. The circular table bearing 22 is arranged above the support 21, and the outer ring is fixed to the top plate 212 of the support 21 through a cushion block. The inner gear 23 is fixed inside the inner ring of the circular table bearing 22 and can rotate relative to the support 21. The outer gear 24 is arranged inside the inner gear 23 and meshes with the inner gear 23, and can be driven to rotate. The bottom plate 31 of the lifting mechanism 3 is fixed to the inner gear 23 and rotates with the inner gear 23 when the inner gear 23 rotates. When the outer gear 24 rotates, the inner gear 23 rotates with it, and the bottom plate 31 of the lifting mechanism 3 rotates with it.
[0037] Specifically, the rotating mechanism 2 also includes a rotating motor 25. The rotating motor 25 is fixed in the support 21, and the output shaft penetrates the top plate 212 upward and is connected with the outer gear 24, which can drive the outer gear 24 to rotate.
[0038] Regarding the linear walking mechanism 1, as shown in Figure 1 and Figure 9As shown, in a specific embodiment, the linear walking mechanism 1 comprises a base 11, two linear walking rails 12 and a supporting plate 13. The two linear walking rails 12 are arranged along the front-rear direction and fixed on the base 11. The two sides of the lower surface of the supporting plate 13 are respectively connected with the two linear walking rails 12 through sliding blocks, and the supporting plate 13 can move along the linear walking rails 12. The bracket 21 of the rotating mechanism 2 is fixed on the supporting plate 13 and moves with the supporting plate 13.
[0039] Specifically, the linear walking mechanism 1 further comprises a walking assembly. The walking assembly comprises a walking idler 141, a walking synchronous wheel 142, a walking synchronous belt 143 and a walking motor 144. The walking idler 141 and the walking synchronous wheel 142 are respectively arranged at the front and rear ends of the base 11 and located between the two linear walking rails 12. The walking idler 141 can rotate relative to the base 11. The walking motor 144 is fixed on the base 11, and the output shaft is connected with the walking synchronous wheel 142 to drive the walking synchronous wheel 142 to rotate. The walking synchronous belt 143 is arranged along the front-rear direction and sleeved on the walking idler 141 and the walking synchronous wheel 142, and can be driven to rotate by the walking synchronous wheel 142. The walking synchronous belt 143 is located above the supporting plate 13, and the supporting plate 13 is fixed with the walking synchronous belt 143 through the supporting plate pressing block 131 fixed on the upper surface of the supporting plate 13, and moves forward and backward with the rotation of the walking synchronous belt 143.
[0040] The end effector can be any functional mechanism. In the present embodiment, the end effector is a gripper mechanism 5.
[0041] As shown in Figure 1 and Figure 10 The gripper mechanism 5 comprises a fixed frame 51, an electric push rod 52, a shaft head connecting rod support 53 and a plurality of gripper assemblies. The fixed frame 51 is fixed at the lower end of the downward extending rod body on the front side of the main arm 42. The shaft cylinder of the electric push rod 52 is fixed on the upper side of the fixed frame 51, and the shaft core penetrates downward through the fixed frame 51. The shaft head connecting rod support 53 is fixed at the lower end of the shaft core of the electric push rod 52. The gripper assembly comprises a gripper connecting rod 541, a gripper connecting rod seat 542 and a gripper 543. The upper end of the gripper connecting rod 541 is rotationally connected with the fixed frame 51. The gripper connecting rod seat 542 is L-shaped, one end is rotationally connected with the lower end of the gripper connecting rod 541, and the bending part is rotationally connected with the side surface of the shaft head connecting rod support 53. The upper end of the gripper 543 is rotationally connected with the other end of the gripper connecting rod seat 542. The plurality of gripper assemblies are uniformly arranged. The shaft core of the electric push rod 52 is extended, and the plurality of grippers 543 are opened outward. The shaft core of the electric push rod 52 is retracted, and the plurality of grippers 543 are clamped inward. That is, the gripper mechanism 5 realizes the function of the gripper 543 through the extension and retraction of the electric push rod 52.
[0042] In working, the mechanical arm realizes the front and back moving function of the end effector through the linear walking mechanism 1. Specifically, the walking synchronous wheel 142 is driven to rotate through the walking motor 144, and then the walking synchronous belt 143 is driven to rotate, so that the supporting plate 13 moves along the linear walking guide rail 12 forward and backward, and then the end effector realizes the front and back moving through the rotating mechanism 2, the lifting mechanism 3 and the arm mechanism 4. The mechanical arm realizes the rotating function of the end effector through the rotating mechanism 2. Specifically, the outer gear 24 is driven to rotate through the rotating motor 25, and then the inner gear 23 engaged with the outer gear 24 is driven to rotate, so that the bottom plate 31 of the lifting mechanism 3 rotates, and then the end effector realizes the rotation through the other components of the lifting mechanism 3 and the arm mechanism 4. The mechanical arm realizes the lifting function of the end effector through the lifting mechanism 3. Specifically, the lifting synchronous wheel 332 is driven to rotate through the lifting motor 334, and then the lifting synchronous belt 333 is driven to rotate, so that the upper moving block 411 and the lower moving block 412 of the arm mechanism 4 move along the lifting guide rail 34 upward and downward, and then the end effector realizes the lifting through the other components of the arm mechanism 4. The mechanical arm realizes the adjustment of the pitch angle of the end effector through the arm mechanism 4 and the lifting mechanism 3. Specifically, by controlling the length of the upper auxiliary arm 431 and the relative position of the upper moving block 411 and the lower moving block 412, the form and angle of the main arm 42 can be changed, so that the pitch angle of the end effector is adjusted.
[0043] It should be noted that the terms such as "upper", "lower", "left", "right", "front", "back" and the like cited in the utility model are only for the convenience of clear description, and are not used to limit the scope of the utility model. The change or adjustment of the relative relationship is also considered as the scope of the utility model without substantial change of the technical content.
[0044] Finally, it should be pointed out that: the above is only the preferred embodiment of the utility model, and is not used to limit the utility model, although the utility model has been described in detail with reference to the foregoing embodiments, and for those skilled in the art, the technical solutions recorded in the foregoing embodiments can be modified, or some technical features can be replaced. Any modification, equivalent replacement, improvement and the like within the spirit and principle of the utility model should be included in the protection scope of the utility model.
Claims
1. An end effector angle controllable mechanical arm, characterized in that: comprising a linear walking mechanism, a rotating mechanism, a lifting mechanism, an arm mechanism and an end effector; the rotating mechanism is arranged on the linear walking mechanism, and the linear walking mechanism can drive the rotating mechanism to walk linearly; the lifting mechanism is arranged on the rotating mechanism, and the rotating mechanism can drive the lifting mechanism to rotate; the arm mechanism comprises a moving piece, a main arm, an upper auxiliary arm and a lower auxiliary arm; the moving piece is arranged on the lifting mechanism, and the lifting mechanism can drive the moving piece to lift; the main arm is a parallelogram structure, and four end points are rotary connection structures; the upper auxiliary arm is an extension piece; the upper auxiliary arm is above the lower auxiliary arm, and the rear ends of the upper auxiliary arm and the lower auxiliary arm are rotatably connected with the moving piece; the lower end of the rear side edge of the main arm is rotatably connected with the moving piece, and the upper end is rotatably connected with the front end of the upper auxiliary arm; the lower side edge of the main arm is rotatably connected with the front end of the lower auxiliary arm; and the end effector is fixed with the front side edge of the main arm.
2. The end effector angle controllable mechanical arm according to claim 1, characterized in that: the moving piece comprises an upper moving block and a lower moving block; the upper moving block and the lower moving block are arranged on the lifting mechanism, and the upper moving block is above the lower moving block; the lifting mechanism can drive the upper moving block and the lower moving block to lift respectively; the upper moving block has a horizontal part extending forward and a vertical part extending upward; the lower end of the rear side edge of the main arm is rotatably connected with the front end of the horizontal part; and the rear end of the upper auxiliary arm is rotatably connected with the upper end of the vertical part; the rear end of the lower auxiliary arm is rotatably connected with the lower moving block.
3. The end effector angle controllable mechanical arm according to claim 2, characterized in that: the lifting mechanism comprises a bottom plate, a vertical column and two groups of lifting assemblies; the vertical column is vertically fixed on the bottom plate; the lifting assembly comprises a lifting idler, a lifting synchronous wheel, a lifting synchronous belt and a lifting motor; the lifting idler is arranged on the upper end of the vertical column and can rotate relative to the vertical column; the lifting synchronous wheel and the lifting motor are arranged on the bottom plate, and the lifting synchronous wheel is below the lifting idler and connected with the output shaft of the lifting motor; the lifting motor can drive the lifting synchronous wheel to rotate; the lifting synchronous belt is sleeved on the lifting idler and the lifting synchronous wheel and can be driven to rotate by the lifting synchronous wheel; the upper moving block and the lower moving block correspond to the two groups of lifting assemblies respectively; the upper moving block and the lower moving block are fixed with the corresponding lifting synchronous belts and move up and down with the rotation of the lifting synchronous belts.
4. The end effector angle controllable mechanical arm according to claim 3, characterized in that: the lifting mechanism further comprises a lifting guide rail; the lifting guide rail is arranged in the up-down direction and fixed on the front side of the vertical column; the two lifting synchronous belts are arranged in front of and behind the lifting guide rail; the upper moving block and the lower moving block are penetrated by the two lifting synchronous belts and fixed with the corresponding lifting synchronous belts respectively, and the rear ends are slidably connected with the lifting guide rail.
5. The end effector angle controllable mechanical arm according to claim 3, characterized in that: the rotating mechanism comprises a support, a round table bearing, an inner gear and an outer gear; the support is composed of a plurality of vertically arranged support columns and a top plate fixed on the support columns; The round table bearing is arranged above the support, and the outer ring is fixed to the top plate of the support through a cushion block; The inner gear is fixed in the inner ring of the round table bearing and can rotate relative to the support; The outer gear is arranged in the inner gear and is engaged with the inner gear and can be driven to rotate; The bottom plate of the lifting mechanism is fixed to the inner gear.
6. The end effector angle-controllable mechanical arm according to claim 5, wherein: The rotating mechanism further comprises a rotating motor; The rotating motor is fixed in the support, and the output shaft of the rotating motor penetrates the top plate upward and is connected with the outer gear, so that the outer gear can be driven to rotate.
7. The end effector angle-controllable mechanical arm according to claim 5, wherein: The linear walking mechanism comprises a base, two linear walking rails and a supporting plate; The two linear walking rails are arranged in the front-rear direction and are fixed to the base; The two sides of the supporting plate are slidably connected with the two linear walking rails through sliding blocks, so that the supporting plate can move forward and backward along the linear walking rails; The support of the rotating mechanism is fixed to the supporting plate.
8. The end effector angle-controllable mechanical arm according to claim 7, wherein: The linear walking mechanism further comprises a walking assembly; The walking assembly comprises a walking idler, a walking synchronous wheel, a walking synchronous belt and a walking motor; The walking idler and the walking synchronous wheel are arranged at the front and rear ends of the base respectively, and the walking idler can rotate relative to the base; The walking motor is fixed to the base, and the output shaft of the walking motor is connected with the walking synchronous wheel, so that the walking synchronous wheel can be driven to rotate; The walking synchronous belt is sleeved on the walking idler and the walking synchronous wheel, and can be driven to rotate by the walking synchronous wheel; The supporting plate is fixed to the walking synchronous belt and moves forward and backward with the rotation of the walking synchronous belt.
9. The end effector angle-controllable mechanical arm according to claim 1, wherein: The end effector is a gripper mechanism.
10. The end effector angle-controllable mechanical arm according to claim 9, wherein: The gripper mechanism comprises a fixed frame, an electric push rod, a shaft head connecting rod support and a plurality of gripper assemblies; The fixed frame is fixed to the lower end of the downward extending rod body at the front side of the main arm; The shaft cylinder of the electric push rod is fixed to the upper side of the fixed frame, and the shaft core penetrates the fixed frame downward; The shaft head connecting rod support is fixed to the lower end of the shaft core of the electric push rod; The gripper assembly comprises a gripper connecting rod, a gripper connecting rod seat and a gripper, the upper end of the gripper connecting rod is rotationally connected with the fixed frame, the gripper connecting rod seat is L-shaped, one end of the gripper connecting rod seat is rotationally connected with the lower end of the gripper connecting rod, the bent part of the gripper connecting rod seat is rotationally connected with the shaft head connecting rod support, and the upper end of the gripper is rotationally connected with the other end of the gripper connecting rod seat.