Connecting rod mechanical arm

Abstract

The connecting rod mechanical arm comprises a connecting rod moving mechanism and a clamping mechanism which are connected with each other, the clamping mechanism comprises two clamping shells and a driving assembly driving the two clamping shells to be opened and closed, each clamping shell comprises a clamping part, a supporting part and an intercepting part, the clamping part is of an arc-shaped structure, and the supporting part and the intercepting part are located on the two arc-shaped sides of the clamping part respectively. The supporting parts and the intercepting parts are arranged at intervals and extend along the arc-shaped inner sides of the clamping parts; the two clamping shells are closed to form a clamping space used for containing fruits, and the clamping space and the fruits are at least partially arranged in a spaced mode. The supporting parts are mainly used for lifting fruits, and when the two clamping shells are closed, the matching of the two supporting parts can prevent the fruits from being separated from the two clamping shells; due to the existence of the intercepting part, the fruits can enter the clamping space conveniently, the clamping space is actually a fruit bearing space, the two clamping parts can not make complete contact with the surfaces of the fruits, the picking and discharging processes of the fruits can be achieved under the opening and closing action of the two clamping shells, and damage to the surfaces of the fruits is avoided.

Description

TECHNICAL FIELD

[0001] The utility model relates to the technical field of fruit picking robot, especially to a connecting rod mechanical arm. BACKGROUND

[0002] The mechanical arm can be used in various use environments to reduce the labor intensity of manual operation and improve work efficiency. Therefore, the mechanical arm is an important component on the fruit picking robot. The mechanical arm carries an image recognition system and a control system on the robot to realize picking of target fruits.

[0003] The existing mechanical arm has multiple movable joints, which cooperate with each other to enable the mechanical arm to move in a certain space. In combination with a clamping mechanism arranged at the end of the mechanical arm, the mechanical arm can pick target fruits. Among them, the mechanical arm with a connecting rod structure can better adapt to fruits planted at different heights. Therefore, the connecting rod mechanical arm is a common mechanical arm on the fruit picking robot, as shown in the patent with the patent application number 202210367096.X and the name of picking robot. The mechanical arm in the patent can move the clamping mechanism to a target position. The two arc-shaped clamping plates of the clamping mechanism are movably arranged, and the two clamping plates can be folded or separated to clamp or unload fruits. Of course, under certain circumstances, the robot will also carry a shearing mechanism to facilitate the picking of fruits that need to be sheared (fruit stems).

[0004] However, in the above-mentioned patent, the two clamping plates can only clamp the fruit in a surrounding manner along the middle part of the fruit, and there is no supporting structure below the fruit. For larger fruits, it is easy to separate from the two clamping plates. At the same time, the sizes of the picked fruits are different, and the distance between the two clamping plates cannot be exactly matched with fruits of different sizes, which may also damage the fruit skin during the picking process of the clamping mechanism of the structure. SUMMARY

[0005] In view of the deficiencies in the prior art, the utility model provides a connecting rod mechanical arm, which solves the problems of easy separation of fruits and damage to fruit skin when the clamping mechanism of the mechanical arm in the prior art picks fruits.

[0006] To achieve the above-mentioned purpose, the utility model adopts the following technical scheme: a connecting rod mechanical arm, comprising a connecting rod movable mechanism and a clamping mechanism connected with each other, the clamping mechanism comprising two clamping shells and a driving assembly for driving the two clamping shells to open and close,

[0007] Each clamping shell comprises a clamping part, a supporting part and an intercepting part. The clamping part is in an arc structure. The supporting part and the intercepting part are respectively located on both sides of the arc of the clamping part. The supporting part and the intercepting part are arranged in a spaced manner and extend along the inner side of the arc of the clamping part.

[0008] The two clamping shells are closed to form a clamping space for placing fruits, and the clamping space is arranged in a gap with the fruits.

[0009] Compared with the prior art, the utility model has the following beneficial effects:

[0010] The structure of the clamping mechanism is improved, the existing plate-shaped clamping plate is changed into a shell-shaped clamping shell, the clamping part of the clamping shell is equivalent to the clamping plate in the prior art, and the clamping shell further comprises an intercepting part and a supporting part.

[0011] The intercepting part mainly facilitates the smooth entry of the fruits into the clamping space.

[0012] Meanwhile, the fruits in the clamping space are arranged in a gap with the inner wall of the clamping space, which means that the clamping space is actually a receiving space for the fruits.

[0013] Further, the clamping part comprises a plurality of arc-shaped rods arranged side by side, a plurality of connecting rods are connected between any two adjacent arc-shaped rods, the supporting part is connected with the last installed arc-shaped rod, and the intercepting part is connected with the first installed arc-shaped rod.

[0014] Further, the intercepting part comprises a plurality of intercepting rods arranged on the first installed arc-shaped rod, and two ends of each intercepting rod are fixed with the arc-shaped inner wall of the corresponding arc-shaped rod.

[0015] The supporting part comprises a plurality of supporting rods arranged on the last installed arc-shaped rod, and two ends of each supporting rod are fixed with the arc-shaped inner wall of the corresponding arc-shaped rod.

[0016] Further, the driving assembly comprises a mounting seat, a driving gear, a driving motor and a rotating gear, the mounting seat is connected with the connecting rod movable mechanism, the driving motor is fixed with the mounting seat and coaxially arranged with the driving gear, and the rotating gear is rotatably connected with the mounting seat and engaged with the driving gear.

[0017] The driving gear and the rotating gear are connected with the two clamping shells respectively, and the driving gear and the rotating gear rotate to drive the two clamping shells to open and close.

[0018] Further, the clamping shell is connected with a pull rod, the pull rod is hingedly connected with the mounting seat and the clamping shell respectively, and the hinged center axis of the pull rod and the mounting seat is arranged in line with the center axis of the rotating gear.

[0019] Further, the connecting seat is connected with the mounting seat through a rotating seat.

[0020] The first movable rod is driven by the first rotating assembly to rotate along the rotating base.

[0021] The rotating rod is driven by the second rotating assembly to rotate along the rotating base.

[0022] Further, the first rotating assembly comprises a first rotating motor, a first driving wheel and a first driven wheel, the first rotating motor is fixed with the rotating base and coaxially arranged with the first driving wheel, the first driven wheel is fixed with the first movable rod and engaged with the first driving wheel, and the axis of the first driven wheel and the hinged center line of the first movable rod and the rotating base are arranged in line.

[0023] Further, the second rotating assembly comprises a second rotating motor, a second driving wheel and a second driven wheel, the second rotating motor is fixed with the rotating base and coaxially arranged with the second driving wheel, the second driven wheel is fixed with the rotating rod and engaged with the second driving wheel, and the axis of the second driven wheel and the hinged center line of the rotating rod and the rotating base are arranged in line.

[0024] Further, at least one auxiliary assembly is further included, the auxiliary assembly comprises a first auxiliary rod, an auxiliary part and a second auxiliary rod, one end of the first auxiliary rod and one end of the second auxiliary rod are hingedly connected with the auxiliary part, the other end of the first auxiliary rod is hingedly connected with the rotating base, the other end of the second auxiliary rod is hingedly connected with the connecting seat, and the auxiliary part is hingedly connected with the first movable rod.

[0025] Further, the rotating seat comprises a seat body and a movable frame body, the seat body is fixed with the connecting seat, a rotating motor is fixed on the seat body, the output end of the rotating motor is connected with the movable frame body, and the movable frame body is connected with the mounting seat. BRIEF DESCRIPTION OF DRAWINGS

[0026] Figure 1 It is a structural schematic view of the utility model;

[0027] Figure 2 It is Figure 1Structure diagram from another perspective.

[0028] In the figure: assembly seat 10, adjusting motor 11, rotating base 20, adjusting gear 21, second rotating motor 30, second driving wheel 31, first driving wheel 40, first rotating motor 41, first movable rod 50, second movable rod 60, push rod 61, rotating rod 62, first auxiliary rod 71, auxiliary part 72, second auxiliary rod 73, connecting seat 80, rotating motor 91, seat body 92, movable frame body 93, arc-shaped rod 110, connecting rod 120, intercepting rod 130, supporting rod 140, rotating gear 150, driving gear 160, pull rod 170, mounting seat 180. DETAILED DESCRIPTION

[0029] The technical solutions in the embodiments of the utility model will be clearly and completely described below with reference to the drawings in the embodiments of the utility model. Obviously, the described embodiments are only part of the embodiments of the utility model, rather than all the embodiments.

[0030] As shown in Figure 1 , 2 , a connecting rod mechanical arm comprises a connecting rod movable mechanism and a clamping mechanism, the connecting rod movable mechanism limits the movement range of the clamping mechanism, and the clamping mechanism is used for picking fruits. The mechanical arm of the present application is used in cooperation with an image recognition system (fruit recognition system) and a control system (controller / control unit) of a fruit picking robot. Therefore, the motors involved in the connecting rod movable mechanism are all electrically controllable motors, such as servo motors and stepping motors.

[0031] In order to adapt the movement height of the mechanical arm of the present application to most fruit trees, the connecting rod movable mechanism of the present application comprises a rotating base 20, a first movable rod 50, a second movable rod 60 and a connecting seat 80. As shown in Figure 1 , 2 , the rotating base 20 is a substantially vertically arranged U-shaped base, an adjusting gear 21 is fixed at the bottom of the rotating base 20, the adjusting gear 21 is rotationally connected with the assembly seat 10 below, an adjusting motor 11 is arranged on the assembly seat 10, a work gear can be assembled on the output shaft of the adjusting motor 11 through a speed reducer, the output shaft of the adjusting motor 11 can also be directly connected with the work gear, the work gear is engaged with the adjusting gear 21, then the adjusting motor 11 works, and the rotating base 20 is driven to rotate, so that the first movable rod 50, the second movable rod 60 and the connecting seat 80 on the rotating base 20 are driven to rotate, thereby driving the clamping mechanism to move.

[0032] In order to enable the clamping mechanism to change at multiple angles in a larger range, as shown in Figure 1 , 2As shown, one end of the first movable rod 50 is hinged to the rotating base 20, the other end of the first movable rod 50 is hinged to the middle of the second movable rod 60, one end of the second movable rod 60 is hinged to the push rod 61, the push rod 61 is hinged to the rotating rod 62 hinged to the rotating base 20, the other end of the second movable rod 60 is hinged to the connecting seat 80, the connecting seat 80 is provided with a rotating seat, and the rotating seat is connected with the clamping mechanism.

[0033] The first movable rod 50 and the second movable rod 60 are synchronous or single change, which can realize the change of the position of the clamping mechanism. Therefore, in order to realize the position change of the first movable rod 50, the first movable rod 50 of the present application is driven by the first rotating assembly, so that the first movable rod 50 rotates along the rotating base 20. The first rotating assembly can be a rudder, a motor and the like in the prior art. The motor and the rotating base 20 are fixed, the output shaft of the motor and the hinge shaft of the first movable rod 50 and the rotating base 20 are coaxial, and the output shaft of the motor and the first movable rod 50 are fixed. Then the motor works to drive the first movable rod 50 to rotate, so that the clamping mechanism rotates. Correspondingly, the second movable rod 60 can also change the position relative to the first movable rod 50. Therefore, the rotating rod 62 of the present application is driven by the second rotating assembly, so that the rotating rod 62 rotates along the rotating base 20. Similarly, the second rotating assembly can adopt the same structure of the first rotating member such as motor, rudder, etc. In addition, the length of the rotating rod 62 is slightly smaller than the length of the push rod 61, and the length of the push rod 61 is close to the length of the first movable rod 50. Then the rotating rod 62 rotates to drive the push rod 61 to move, which can "push and pull" the second movable rod 60, so that the included angle of the first movable rod 50 and the second movable rod 60 changes, so that the second movable rod 60 can extend to a higher position, so as to pick the fruit at a high position.

[0034] In the present application, the first rotating assembly and the second rotating assembly adopt the same structure. Specifically, as shown in Figure 1 , 2As shown, the first rotating assembly comprises a first rotating motor 41, a first driving wheel 40 and a first driven wheel. The first rotating motor 41 is fixed to the rotating base 20 and coaxially arranged with the first driving wheel 40. The first driven wheel is fixed to the first movable rod 50 and engaged with the first driving wheel 40. The axis of the first driven wheel and the first movable rod 50 are arranged in line with the hinge center line of the rotating base 20. The second rotating assembly comprises a second rotating motor 30, a second driving wheel 31 and a second driven wheel. The second rotating motor 30 is fixed to the rotating base 20 and coaxially arranged with the second driving wheel 31. The second driven wheel is fixed to the rotating rod 62 and engaged with the second driving wheel 31. The axis of the second driven wheel and the rotating rod 62 are arranged in line with the hinge center line of the rotating base 20. In the figure, the first driving gear and the second driving gear are not shown. The output shaft of the first rotating motor 41 can be directly fixed to the first driving gear or connected to the first driving gear through a reducer. The connection relationship between the second rotating motor 30 and the second driving gear is the same. Moreover, the diameter of the first driven wheel is greater than that of the first driving gear. Therefore, the cooperation between the first driven wheel and the first driving gear can more accurately control the rotation angle of the first movable rod 50. Similarly, the diameter of the second driven wheel is greater than that of the second driving gear. Therefore, the cooperation between the second driven wheel and the second driving gear can more accurately control the change of the included angle between the first movable rod 50 and the second movable rod 60.

[0035] During use, in order to further ensure the stability of the first movable rod 50, the present application further comprises at least one auxiliary assembly, such as Figure 1 、 2 As shown, the present application is provided with two auxiliary assemblies, which are respectively located on the two sides of the first movable rod 50 and the second movable rod 60, such as Figure 1 、 2 As shown, each auxiliary assembly comprises a first auxiliary rod 71, an auxiliary piece 72 and a second auxiliary rod 73. One end of the first auxiliary rod 71 and one end of the second auxiliary rod 73 are hingedly connected to the auxiliary piece 72. The other end of the first auxiliary rod 71 is hingedly connected to the rotating base 20. The other end of the second auxiliary rod 73 is hingedly connected to the connecting seat 80. The auxiliary piece 72 is hingedly connected to the first movable rod 50. The auxiliary piece 72 is in the shape of an inverted triangular plate. The hinge points of the first auxiliary rod 71 and the second auxiliary rod 73 are close to the two corners above the auxiliary piece 72. The auxiliary piece 72, the first movable rod 50 and the second movable rod 60 are located at the same hinge shaft position, which is close to the top corner below the auxiliary piece 72. The arrangement of the auxiliary assembly can ensure the stability of the first movable rod 50 and the second movable rod 60, and can increase the connection strength between the first movable rod 50, the second movable rod 60 and the rotating base 20.

[0036] In order to smoothly pick the fruit from the tree after the clamping mechanism clamps the fruit, the present application is provided with a rotating seat on the connecting seat 80, such asFigure 1 , 2 As shown in FIG. 9 and FIG. 10, the rotating seat comprises a seat body 92 and a movable frame body 93, the seat body 92 is fixed with the connecting seat 80, the seat body 92 is fixed with a rotating motor 91, the output end of the rotating motor 91 is connected with the movable frame body 93, the movable frame body 93 is of a door type structure, the rotating motor 91 is located between the movable frame body 93, one door frame of the movable frame body 93 is connected with the rotating motor 91, the other door frame of the movable frame body 93 is hinged with the base, and the lintel position of the movable frame body 93 is connected with the clamping mechanism. When the rotating motor 91 works, the movable frame body 93 and the clamping mechanism can be swung in the vertical direction, so as to separate the fruit and the fruit tree fixed by the clamping mechanism.

[0037] In the present application, in order to avoid the problems that the fruit is easily separated and the fruit skin is easily damaged during the use of the clamping mechanism, the clamping mechanism comprises two clamping shells and a driving assembly for driving the two clamping shells to open and close.

[0038] Each clamping shell comprises a clamping part, a supporting part and an intercepting part, the clamping part is of an arc structure, the supporting part and the intercepting part are respectively located at two sides of the arc of the clamping part, the supporting part and the intercepting part are spaced apart and both extend along the inner side of the arc of the clamping part; the two clamping shells are closed to form a clamping space for placing the fruit, and the clamping space is at least partially spaced apart from the fruit.

[0039] In the present application, the structure of the clamping mechanism is improved, the existing plate-shaped clamping plate is changed into a shell-shaped clamping shell, the clamping part of the clamping shell is equivalent to the clamping plate in the prior art, and the clamping shell further comprises an intercepting part and a supporting part, wherein the main function of the supporting part is to lift the fruit, and when the two clamping shells are closed, the two supporting parts can cooperate to avoid the fruit from being separated from the two clamping shells.

[0040] The main function of the intercepting part is to facilitate the fruit to smoothly enter the clamping space. Correspondingly, the intercepting part can be provided in the form of a blade structure, and when the two clamping shells are closed, the two intercepting parts can be in contact to cut the fruit stem, so that the fruit falls into the clamping space. Of course, the intercepting part can also be provided in the form of a common plate structure, and the two intercepting parts can be intermittently arranged during the closing process of the two clamping shells, so that the fruit stem can pass through, and the fruit located in the clamping space can be separated from the fruit stem by changing the position (rotating or moving downward) of the fruit under the action of the mechanical arm, so that the fruit enters the clamping space.

[0041] Meanwhile, the fruit in the clamping space is spaced apart from the inner wall of the clamping space, which means that the clamping space is actually a receiving space for the fruit, and the two clamping parts can not be in complete contact with the surface of the fruit, so that the fruit can be picked and unloaded under the action of the two clamping shells, the damage to the surface of the fruit can be avoided, and the problem that the fruit is damaged due to the strong clamping of the two clamping parts can also be avoided, so that the clamping mechanism of the present application can be applied to the picking of most fruits, the integrity of the fruit can be ensured, and the loss can be reduced.

[0042] In addition to the common arc-shaped plate structure, the clamping part of the present application is combined with the structure of the driving assembly and the lightweight setting, as shown in Figure 1 、 2 The clamping part can also include three arc-shaped rods 110 arranged side by side from top to bottom, and a plurality of connecting rods 120 are connected between any adjacent two arc-shaped rods 110, wherein the connecting rod 120 located at the lowermost mounting position is connected with the support part, the uppermost arc-shaped rod 110 is connected with the intercepting part, and the driving assembly is installed in cooperation with the arc-shaped rod 110 located in the middle. Moreover, the length of the arc-shaped rod 110 located in the middle position is greater than that of the arc-shaped rods 110 located on the upper and lower sides, and this design facilitates the opening and closing of the entire clamping shell.

[0043] In combination with the structure of the clamping part, the intercepting part and the support part of the present application are as follows: the intercepting part includes a plurality of intercepting rods 130 arranged on the arc-shaped rod 110 at the first mounting position, and the two ends of each intercepting rod 130 are fixed with the arc-shaped inner wall of the corresponding arc-shaped rod 110; the support part includes a plurality of support rods 140 arranged on the arc-shaped rod 110 at the last mounting position, and the two ends of each support rod 140 are fixed with the arc-shaped inner wall of the corresponding arc-shaped rod 110. As shown in Figure 1 、 2 A plurality of intercepting rods 130 are arranged side by side between the arc-shaped rods 110, and the lengths of the intercepting rods 130 are not equal. Correspondingly, the support rods 140 are arranged in the same way as the intercepting rods 130.

[0044] Due to the special structure of the clamping shell of the present application, in order to make the opening and closing of the two clamping shells more smooth, as shown in Figure 1 、 2 The driving assembly of the present application includes a mounting seat 180, a driving gear 160, a driving motor and a rotating gear 150. The mounting seat 180 is connected with the connecting rod movable mechanism, the driving motor is fixed with the mounting seat 180 and coaxially arranged with the driving gear 160, and the rotating gear 150 is rotatably connected with the mounting seat 180 and engaged with the driving gear 160. The driving gear 160 and the rotating gear 150 are respectively connected with the two clamping shells, and the driving gear 160 and the rotating gear 150 are rotated to drive the opening and closing of the two clamping shells.

[0045] In order to further ensure the stability of the use of the two clamping shells, a pull rod 170 is connected with the clamping shell in the present application, the pull rod 170 is located above the intercepting part, the pull rod 170 is respectively hinged with the mounting seat 180 and the clamping shell (the arc-shaped rod 110 at the uppermost mounting position), and the hinge center axis of the pull rod 170 and the mounting seat 180 is arranged in line with the center axis of the rotating gear 150.

[0046] It is apparent for a person skilled in the art that the present application is not restricted to the details of the above exemplary embodiments, but that it can be implemented in other concrete forms without departing from the spirit or the essential characteristics of the present application. Therefore, the embodiments should be considered as exemplary only, and not limiting, the scope of the present application being defined by the appended claims rather than the above description, and all changes coming within the meaning and range of equivalency of the claims are therefore intended to be embraced therein. Any reference signs in the claims should not be construed as limiting the claims concerned.

Claims

1. A link robot arm comprising a link mechanism and a gripping mechanism connected to each other, characterized by: The clamping mechanism comprises two clamping shells and a driving assembly for driving the two clamping shells to open and close, Each clamping shell comprises a clamping part, a supporting part and an intercepting part, the clamping part is in an arc structure, the supporting part and the intercepting part are respectively arranged on two sides of the arc of the clamping part, the supporting part and the intercepting part are arranged in a spaced manner, and both extend along the inner side of the arc of the clamping part; The two clamping shells are closed to form a clamping space for placing fruits, and the clamping space is arranged in a partially spaced manner with the fruits.

2. The link arm according to claim 1, characterized by: The clamping part comprises a plurality of arc-shaped rods (110) arranged side by side, a plurality of connecting rods (120) are connected between any two adjacent arc-shaped rods (110), the supporting part is connected with the last arc-shaped rod (110), and the intercepting part is connected with the first arc-shaped rod (110).

3. The link arm of claim 2, wherein: The intercepting part comprises a plurality of intercepting rods (130) arranged on the first arc-shaped rod (110), and both ends of each intercepting rod (130) are fixed to the arc-shaped inner wall of the corresponding arc-shaped rod (110); The supporting part comprises a plurality of supporting rods (140) arranged on the last arc-shaped rod (110), and both ends of each supporting rod (140) are fixed to the arc-shaped inner wall of the corresponding arc-shaped rod (110).

4. The link arm according to any one of claims 1 to 3, characterized in that: The driving assembly comprises a mounting seat (180), a driving gear (160), a driving motor and a rotating gear (150), the mounting seat (180) is connected with a connecting rod movable mechanism, the driving motor is fixed to the mounting seat (180) and coaxially arranged with the driving gear (160), and the rotating gear (150) is rotationally connected with the mounting seat (180) and engaged with the driving gear (160); The driving gear (160) and the rotating gear (150) are respectively connected with the two clamping shells, and the driving gear (160) and the rotating gear (150) rotate to drive the two clamping shells to open and close.

5. The link arm of claim 4, wherein: The clamping shell is connected with a pull rod (170), the pull rod (170) is respectively hinged to the mounting seat (180) and the clamping shell, and the hinge center axis of the pull rod (170) and the mounting seat (180) is arranged in line with the center axis of the rotating gear (150).

6. The link arm of claim 4, wherein: The connecting rod movable mechanism comprises a rotating base (20), a first movable rod (50), a second movable rod (60) and a connecting seat (80), one end of the first movable rod (50) is hinged to the rotating base (20), the other end of the first movable rod (50) is hinged to the middle of the second movable rod (60), one end of the second movable rod (60) is hinged to a push rod (61), the push rod (61) is hinged to a rotating rod (62) hinged to the rotating base (20), the other end of the second movable rod (60) is hinged to the connecting seat (80), and the connecting seat (80) is connected with the mounting seat (180) through a rotating seat; The first movable rod (50) is driven by a first rotating assembly to rotate along the rotating base (20); The rotating rod (62) is driven by a second rotating assembly to rotate along the rotating base (20).

7. The link arm of claim 6, wherein: The first rotating assembly comprises a first rotating motor (41), a first driving wheel (40) and a first driven wheel, the first rotating motor (41) is fixed with the rotating base (20) and coaxially arranged with the first driving wheel (40), the first driven wheel is fixed with the first movable rod (50) and engaged with the first driving wheel (40), and the axis of the first driven wheel and the first movable rod (50) are arranged in line with the hinge center line of the rotating base (20).

8. The link arm of claim 7, wherein: The second rotating assembly comprises a second rotating motor (30), a second driving wheel (31) and a second driven wheel, the second rotating motor (30) is fixed with the rotating base (20) and coaxially arranged with the second driving wheel (31), the second driven wheel is fixed with the rotating rod (62) and engaged with the second driving wheel (31), and the axis of the second driven wheel and the rotating rod (62) are arranged in line with the hinge center line of the rotating base (20).

9. The link arm of claim 8, wherein: Further comprising at least one auxiliary assembly, the auxiliary assembly comprises a first auxiliary rod (71), an auxiliary piece (72) and a second auxiliary rod (73), one end of the first auxiliary rod (71) and one end of the second auxiliary rod (73) are hingedly connected with the auxiliary piece (72), the other end of the first auxiliary rod (71) is hingedly connected with the rotating base (20), the other end of the second auxiliary rod (73) is hingedly connected with the connecting base (80), and the auxiliary piece (72) is hingedly connected with the first movable rod (50).

10. The link arm of claim 9, wherein: The rotating seat comprises a seat body (92) and a movable frame body (93), the seat body (92) is fixed with the connecting base (80), the seat body (92) is fixed with a rotating motor (91), the output end of the rotating motor (91) is connected with the movable frame body (93), and the movable frame body (93) is connected with the mounting base (180).

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