A robot arm

Abstract

The utility model relates to mechanical equipment technical field especially relates to a kind of mechanical arm, pedestal includes cylinder and bottom plate;Rotary shaft seat and first rotary cylinder are installed in the inner chamber of cylinder, and the lower end cover of first rotary cylinder is fixedly connected on bottom plate by screw;Rotary shaft is rotatably installed in the central hole of rotary shaft seat, and the lower end of rotary shaft is connected with the output shaft of first rotary cylinder;First telescopic cylinder is installed on the top of rotary shaft, and the piston rod of first telescopic cylinder is vertically arranged, and the top end of the piston rod of first telescopic cylinder is installed with balance support frame;Second telescopic cylinder and guide rod are installed on balance support frame, guide rod is horizontally arranged, and the piston rod of second telescopic cylinder and guide rod are mutually parallel;Sliding seat is slidably installed on the cantilever end of guide rod, and the piston rod end of second telescopic cylinder is used for sliding seat connection;Second rotary cylinder is connected at the lower end of sliding seat;Hand claw mechanism is connected with the output shaft of second rotary cylinder.

Description

Technical Field

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

[0002] As a key component of automated equipment, robotic arms have evolved from simple industrial applications to complex intelligent systems. Initially used for repetitive and simple tasks such as assembly and handling, robotic arms have been widely applied in manufacturing, healthcare, and service industries with the advancement of technology.

[0003] Pneumatic technology is a technology that uses compressed air as a power source to drive mechanical equipment and tools. It relies on an air compressor to compress air, which is then delivered through a pipeline system to various pneumatic components (such as cylinders, pneumatic motors, and pneumatic valves). These components generate linear or rotary motion under the action of compressed air, thereby performing functions such as force amplification, transmission, and control. Therefore, cylinders are widely used in robotic arms.

[0004] In the prior art, patent CN212947788U discloses a movable robotic arm, including a movable base, an adjustment mechanism, a column, a robotic arm body, and a robotic claw. The adjustment mechanism is fixed to the movable base, the column is connected to the upper part of the adjustment mechanism, the robotic arm body is fixedly installed on the side of the column, and the robotic claw is movably connected to the robotic arm. The adjustment mechanism includes a rotary cylinder and a lifting cylinder, with the lifting cylinder located at the top of the rotary cylinder. The rotary cylinder enables the column to rotate around its axis, and the lifting cylinder enables the column to move vertically. A drive motor drives a transmission gear to rotate, and the engagement of the transmission gear with a threaded part allows the robotic claw to move laterally on the robotic arm body.

[0005] The robotic arm in CN212947788U is not entirely controlled by a pneumatic system; it requires an additional motor for drive and therefore cannot be controlled by the same pneumatic system. Utility Model Content

[0006] The main purpose of this invention is to propose a robotic arm that aims to solve the aforementioned technical problems.

[0007] To achieve the above objectives, this utility model proposes a robotic arm, comprising a base, the base including a cylindrical body with an open top and a base plate integrally formed at the bottom of the cylindrical body; a rotating shaft seat and a first rotary cylinder are installed in the inner cavity of the cylindrical body, the lower end cap of the first rotary cylinder being fixed to the base plate by screws; a rotary shaft is rotatably installed in the central hole of the rotating shaft seat, the lower end of the rotary shaft being connected to the output shaft of the first rotary cylinder; a first telescopic cylinder is installed on the top of the rotary shaft, the piston rod of the first telescopic cylinder being vertically arranged, and a balance support frame is installed at the top of the piston rod of the first telescopic cylinder; a second telescopic cylinder and a guide rod are installed on the balance support frame, the guide rod being horizontally arranged, and the piston rod of the second telescopic cylinder being parallel to the guide rod; a sliding seat is slidably installed at the cantilever end of the guide rod, and the piston rod end of the second telescopic cylinder is used for connecting to the sliding seat; a second rotary cylinder is connected to the lower end of the sliding seat; a gripper mechanism is connected to the output shaft of the second rotary cylinder.

[0008] Preferably, the gripper mechanism includes a base plate, a third telescopic cylinder, a slider, and two gripper plates; two insert plates are integrally formed on the base plate; slots are provided on the gripper plates; the insert plates are slidably inserted into the slots; a sliding groove is formed between the two insert plates; the slider is slidably installed in the sliding groove; an oblong hole is provided on the gripper plate; a limiting post is provided on the insert plate; the limiting post is inserted into the oblong hole, and the limiting post and the oblong hole are slidably engaged; a connecting rod is hinged between the gripper plates and the slider; a square frame is welded to the top of the base plate, and the output shaft of the second rotary cylinder is connected to the square frame; the third telescopic cylinder is installed inside the square frame, and the telescopic rod of the third telescopic cylinder passes through the bottom plate of the square frame and connects to the slider.

[0009] Preferably, a first connecting post is provided at the top of the frame, and a rectangular insertion hole is provided at the center of the first connecting post; the end of the output shaft of the second rotary cylinder is prismatic and is inserted into the rectangular insertion hole of the first connecting post; a plurality of fastening bolts are inserted laterally between the first connecting post and the output shaft of the second rotary cylinder.

[0010] Preferably, the rotating shaft seat is provided with a flange edge, and the flange edge overlaps the top surface of the cylinder body, and the flange edge is connected to the cylinder body with screws.

[0011] Preferably, a bearing is provided between the rotating shaft seat and the rotating shaft.

[0012] Preferably, a connector is provided between the balance support frame and the top end of the piston rod of the first telescopic cylinder; the connector includes a plate part and a shaft part; a connecting plate is provided on the bottom surface of the balance support frame; the plate part of the connector is bolted to the connecting plate of the balance support frame; a rectangular insertion hole is provided on the shaft part of the connector, and the end of the telescopic rod of the first telescopic cylinder is prism-shaped and inserted into the rectangular insertion hole of the shaft part; a plurality of fastening bolts are transversely inserted between the shaft part and the telescopic rod of the first telescopic cylinder.

[0013] Preferably, the balance support frame includes an upright plate, and the left end cap of the second telescopic cylinder is connected to the upright plate by screws; a fixing plate is welded onto the balance support frame; the fixing plate is bolted to the left end cap of the second telescopic cylinder.

[0014] Preferably, the sliding seat includes a sliding connecting part and a rectangular plate integrally formed at the lower end of the sliding connecting part; the rectangular plate is screwed to the second rotary cylinder; a sliding hole is provided on the sliding connecting part; the guide rod is slidably inserted into the sliding hole; a second connecting post is welded to the end face of the sliding connecting part, and a rectangular insertion hole is provided at the center of the second connecting post; the end of the telescopic rod of the second telescopic cylinder is prismatic in shape and is inserted into the rectangular insertion hole of the second connecting post; a plurality of fastening bolts are inserted between the second connecting post and the telescopic rod of the second telescopic cylinder.

[0015] Preferably, the balance support frame includes a balance block; the balance block is disposed on one end of the balance support frame away from the sliding seat.

[0016] Preferably, the robotic arm also includes an air storage cylinder, which is connected to the main air intake pipe via a pipeline; the main air intake pipe is connected to the first rotary cylinder, the second rotary cylinder, the first telescopic cylinder, the second telescopic cylinder, and the third telescopic cylinder via air intake branch pipes; a three-position four-way solenoid valve is installed on each air intake branch pipe; a water separator, a pressure reducing valve, and an oil mist lubricator are installed sequentially on the pipeline between the air storage cylinder and the main air intake pipe.

[0017] Due to the adoption of the above technical solution, the beneficial effects of this utility model are as follows: (1) In the robotic arm structure provided by this utility model, the first rotary cylinder can drive the rotary shaft to rotate around its axis, the first telescopic cylinder can drive the balance support frame to perform lifting and lowering movements, the second telescopic cylinder can drive the sliding seat to slide back and forth on the guide rod, and the second rotary cylinder can drive the gripper mechanism to perform rotary movements. Therefore, the entire robotic arm is a pneumatic robotic arm, and the movement of the entire robotic arm can be controlled by using the same pneumatic system.

[0018] (2) The robotic arm provided by this utility model is controlled entirely by pneumatics, without the need for an additional motor for driving. It has a simple structure, is easy to disassemble, and is convenient for maintenance and repair. Attached Figure Description

[0019] To more clearly illustrate the technical solutions in the embodiments of this utility model or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of this utility model. For those skilled in the art, other drawings can be obtained based on the structures shown in these drawings without creative effort.

[0020] Figure 1 A three-dimensional structural diagram of the robotic arm provided by this utility model; Figure 2 This is a cross-sectional view of the robotic arm provided by this utility model; Figure 3 This is an exploded view of the structure of the balance support frame and connecting parts in this utility model; Figure 4 This is a schematic diagram of the sliding seat in this utility model; Figure 5 This is an exploded view of the gripper mechanism in this utility model; Figure 6 This is a schematic diagram of the base plate structure of the gripper mechanism in this utility model; Figure 7 This is a schematic diagram of the base structure in this utility model; Figure 8 This is a three-dimensional structural diagram of the rotating shaft seat of this utility model; Figure 9 This is a cross-sectional view of the rotating shaft seat of this utility model; Figure 10 This is a cross-sectional view of the rotating shaft in this utility model; Figure 11 This is a schematic diagram of the structure of the first rotary cylinder in this utility model; Figure 12 This is a three-dimensional structural diagram of the connecting disc in this utility model; Figure 13 This is a cross-sectional view of the connecting disc in this utility model; Figure 14 This is a schematic diagram of the pneumatic pipeline connection structure of this utility model.

[0021] Reference numerals: 1. First rotary cylinder; 2. Second rotary cylinder; 3. First telescopic cylinder; 4. Second telescopic cylinder; 5. Third telescopic cylinder; 6. Base; 6a. Cylinder; 6b. Base plate; 7. Shaft seat; 7a. Flange edge; 8. Rotary shaft; 9. Balance support frame; 9a. Connecting plate; 9b. Vertical plate; 9c. Fixed plate; 9d. Balance block; 10. Guide rod; 11. Sliding seat; 11a. Sliding connection part; 11b. Rectangular plate; 11c. Sliding hole; 11d. Second connecting column; 12. Gripper mechanism; 13. Base plate; 13a. Insert plate; 13b. Slide groove; 13c. Limiting post; 13d. Square frame; 13e. First connecting post; 14. Claw plate; 14a. Slot; 14b. Waist-shaped hole; 15. Slider; 16. Connecting rod; 17. Bearing; 18. Connecting piece; 18a. Plate part; 18b. Shaft part; 19. Air storage cylinder; 20. Main intake pipe; 21. Three-position four-way solenoid directional valve; 22. Water separator filter; 23. Pressure reducing valve; 24. Oil mist lubricator; 25. Connecting plate; 26. Circular plate; 27. First support of guide rod; 28. Second support of guide rod. Detailed Implementation

[0022] The technical solutions of the present utility model will be clearly and completely described below with reference to the accompanying drawings of the embodiments. Obviously, the described embodiments are only some embodiments of the present utility model, and not all embodiments. Based on the embodiments of the present utility model, all other embodiments obtained by those of ordinary skill in the art without creative effort are within the protection scope of the present utility model.

[0023] It should be noted that all directional indicators (such as up, down, left, right, front, back, etc.) in this utility model embodiment are only used to explain the relative positional relationship and movement of each component in a certain specific posture (as shown in the figure). If the specific posture changes, the directional indicator will also change accordingly.

[0024] Furthermore, the use of terms such as "first" and "second" in this utility model is for descriptive purposes only and should not be construed as indicating or implying their relative importance or implicitly specifying the number of technical features indicated. Therefore, a feature defined as "first" or "second" may explicitly or implicitly include at least one of that feature. Additionally, the technical solutions of the various embodiments can be combined with each other, but only on the basis of being achievable by those skilled in the art. When the combination of technical solutions is contradictory or impossible to implement, such a combination of technical solutions should be considered non-existent and not within the scope of protection claimed by this utility model.

[0025] Combination Figures 1 to 13As shown, a robotic arm includes a base 6, which comprises a cylindrical body 6a with an open top and a base plate 6b integrally formed at the bottom of the cylindrical body 6a. A pivot seat 7 and a first rotary cylinder 1 are installed inside the cavity of the cylindrical body 6a. The lower end cap of the first rotary cylinder 1 is fixed to the base plate 6b by screws. A rotary shaft 8 is rotatably installed in the central hole of the pivot seat 7, and the lower end of the rotary shaft 8 is connected to the output shaft of the first rotary cylinder 1. A first telescopic cylinder 3 is installed on the top of the rotary shaft 8, and the piston rod of the first telescopic cylinder 3... The first telescopic cylinder 3 is vertically mounted, with a balance support frame 9 installed at the top of its piston rod. A second telescopic cylinder 4 and a guide rod 10 are mounted on the balance support frame 9. The guide rod 10 is horizontally mounted, and the piston rod of the second telescopic cylinder 4 is parallel to the guide rod 10. A sliding seat 11 is slidably mounted on the cantilever end of the guide rod 10, and the piston rod end of the second telescopic cylinder 4 is used to connect to the sliding seat 11. A second rotary cylinder 2 is connected to the lower end of the sliding seat 11. A gripper mechanism 12 is connected to the output shaft of the second rotary cylinder 2.

[0026] Combination Figure 2 and Figure 4 As shown, the gripper mechanism 12 includes a base plate 13, a third telescopic cylinder 5, a slider 15, and two gripper plates 14. Two insert plates 13a are integrally formed on the base plate 13. Slots 14a are provided on the gripper plates 14. The insert plates 13a are slidably inserted into the slots 14a. A groove 13b is formed between the two insert plates 13a. The slider 15 is slidably installed in the groove 13b. An oblong hole 14b is provided on the gripper plate 14. A limiting post 13c is provided on the insert plate 13a. The limiting post 13c is inserted into the oblong hole 14b, and the limiting post 13c slides in cooperation with the oblong hole 14b. A connecting rod 16 is hinged between the gripper plate 14 and the slider 15. Specifically, one end of the connecting rod 16 is connected to the gripper plate 14 through a hinge post, and the other end is connected to the slider 15 through a hinge post. A rectangular frame 13d is welded to the top of the base plate 13, and the output shaft of the second rotary cylinder 2 is connected to the rectangular frame 13d. The third telescopic cylinder 5 is installed inside the rectangular frame 13d, and the telescopic rod of the third telescopic cylinder 5 passes through the bottom plate of the rectangular frame 13d and is connected to the slider 15. The third telescopic cylinder 5 can drive the slider 15 to move up and down in the slide groove 13b, and then drive the two claw plates 14 to close or separate through the connecting rod 16.

[0027] Combination Figure 2 and Figure 6As shown, a first connecting post 13e is provided on the top of the frame 13d, and a rectangular insertion hole is provided in the center of the first connecting post 13e; the end of the output shaft of the second rotary cylinder 2 is prismatic and is inserted into the rectangular insertion hole of the first connecting post 13e; a plurality of fastening bolts are inserted laterally between the first connecting post 13e and the output shaft of the second rotary cylinder 2.

[0028] Combination Figure 2 , Figure 8 and Figure 9 As shown, the rotating shaft seat 7 is provided with a flange edge 7a, which overlaps the top surface of the cylinder 6a and is bolted to the cylinder 6a. A bearing 17 is provided between the rotating shaft seat 7 and the rotating shaft 8.

[0029] Combination Figure 2 , Figure 3 As shown, a connector 18 is provided between the balance support frame 9 and the top of the piston rod of the first telescopic cylinder 3; the connector 18 includes a plate part 18a and a shaft part 18b; a connecting plate 9a is provided on the bottom surface of the balance support frame 9; the plate part 18a of the connector 18 is bolted to the connecting plate of the balance support frame 9; a rectangular insertion hole is provided on the shaft part 18b of the connector 18, and the end of the telescopic rod of the first telescopic cylinder 3 is prismatic and inserted into the rectangular insertion hole of the shaft part 18b; multiple fastening bolts are horizontally inserted between the shaft part 18b and the telescopic rod of the first telescopic cylinder 3.

[0030] Combination Figures 1 to 3 As shown, the balance support frame 9 includes an upright plate 9b, and the left end cover of the second telescopic cylinder 4 is connected to the upright plate 9b by screws; a fixing plate 9c is welded onto the balance support frame 9; the fixing plate 9c is bolted to the left end cover of the second telescopic cylinder 4.

[0031] Combination Figure 2 , Figure 4 As shown, the sliding seat 11 includes a sliding connecting part 11a and a rectangular plate 11b integrally formed at the lower end of the sliding connecting part 11a; the rectangular plate 11b is screwed to the second rotary cylinder 2; a sliding hole 11c is provided on the sliding connecting part 11a; the guide rod 10 is slidably inserted into the sliding hole 11c; a second connecting post 11d is welded to the end face of the sliding connecting part 11a, and a rectangular insertion hole is provided at the center of the second connecting post 11d; the end of the telescopic rod of the second telescopic cylinder 4 is prismatic in shape and is inserted into the rectangular insertion hole of the second connecting post 11d; a plurality of fastening bolts are inserted between the second connecting post 11d and the telescopic rod of the second telescopic cylinder 4.

[0032] Combination Figure 3As shown, the balance support frame 9 includes a balance block 9d; the balance block 9d is disposed on the balance support frame 9 at one end away from the sliding seat 11.

[0033] Combination Figure 1 , 2 As shown, the rotary shaft 8 is connected to the first telescopic cylinder 3 via a connecting plate 25 and a circular plate 26. Specifically, the circular plate 26 is screwed to the lower end cover of the first telescopic cylinder 3, the connecting plate 25 is screwed to the rotary shaft 8, the circular plate 26 is screwed to the connecting plate 25, and the connecting plate 25 is connected to the rotary shaft 8 via multiple screws.

[0034] In this embodiment, a first guide rod support 27 is installed on the top of the upright plate 9b of the balance support frame 9, and a second guide rod support 28 is installed on the top of the left end cover of the second telescopic cylinder 4. The guide rod 10 is inserted into the first guide rod support 27 and the second guide rod support 28. An annular limiting platform is provided on the outer cylindrical surface of the left end of the guide rod 10, and a locking nut is screwed on it. The annular limiting platform abuts against the first guide rod support 27 and is fastened by the locking nut.

[0035] Combination Figure 14 As shown, it also includes an air storage cylinder 19, which is connected to the main intake pipe 20 via a pipeline. The main intake pipe 20 is connected adjacent to the first rotary cylinder 1, the second rotary cylinder 2, the first telescopic cylinder 3, the second telescopic cylinder 4, and the third telescopic cylinder 5 via intake branch pipes. A three-position four-way solenoid valve 21 is installed on each intake branch pipe. A water filter 22, a pressure reducing valve 23, and an oil mist lubricator 24 are sequentially installed on the pipeline between the air storage cylinder 19 and the main intake pipe 20. In use, the air compressor is connected to the air storage cylinder 19 via a quick connector, and a manual shut-off valve is installed on the pipeline between the air compressor and the air storage cylinder 19. Compressed air in the air storage cylinder 19 passes through the water filter 22, the pressure reducing valve 23, and the oil mist lubricator 24 before entering the three-position four-way solenoid valve 21 on each parallel intake branch pipe to control the operation of each cylinder.

[0036] The water separator 22 filters compressed air, effectively removing condensate, solid particles, and oil droplets. The regulating valve inside the oil mist lubricator 24 sprays lubricating oil into the gas, forming tiny oil mist particles. These oil mist particles then enter the cylinders with the air for lubrication, ensuring normal cylinder operation. The pressure reducing valve 23 reduces and stabilizes the pressure.

[0037] The above description is only a preferred embodiment of the present utility model and does not limit the patent scope of the present utility model. All equivalent structural transformations made under the concept of the present utility model and using the contents of the present utility model specification and drawings, or direct / indirect applications in other related technical fields, are included in the patent protection scope of the present utility model.

Claims

1. A robotic arm, characterized in that, The system includes a base (6), which comprises a cylindrical body (6a) with an open top and a base plate (6b) integrally formed at the bottom of the cylindrical body (6a); a rotating shaft seat (7) and a first rotary cylinder (1) are installed in the inner cavity of the cylindrical body (6a), and the lower end cover of the first rotary cylinder (1) is fixed to the base plate (6b) by screws; a rotary shaft (8) is rotatably installed in the central hole of the rotating shaft seat (7), and the lower end of the rotary shaft (8) is connected to the output shaft of the first rotary cylinder (1); A first telescopic cylinder (3) is installed on the top of the rotary shaft (8). The piston rod of the first telescopic cylinder (3) is set vertically, and a balance support frame (9) is installed on the top of the piston rod of the first telescopic cylinder (3). A second telescopic cylinder (4) and a guide rod (10) are installed on the balance support frame (9). The guide rod (10) is set horizontally, and the piston rod of the second telescopic cylinder (4) is parallel to the guide rod (10). A sliding seat (11) is slidably mounted on the cantilever end of the guide rod (10), and the piston rod end of the second telescopic cylinder (4) is used to connect the sliding seat (11); a second rotary cylinder (2) is connected to the lower end of the sliding seat (11); a gripper mechanism (12) is connected to the output shaft of the second rotary cylinder (2).

2. The robotic arm as described in claim 1, characterized in that, The gripper mechanism (12) includes a base plate (13), a third telescopic cylinder (5), a slider (15), and two gripper plates (14). Two insert plates (13a) are integrally formed on the base plate (13); a slot (14a) is provided on the claw plate (14); the insert plates (13a) are slidably inserted into the slot (14a); a groove (13b) is formed between the two insert plates (13a); the slider (15) is slidably installed in the groove (13b); A waist-shaped hole (14b) is provided on the claw plate (14); a limiting post (13c) is provided on the insert plate (13a); the limiting post (13c) is inserted into the waist-shaped hole (14b) and the limiting post (13c) slides in fit with the waist-shaped hole (14b); a connecting rod (16) is hinged between the claw plate (14) and the slider (15). A square frame (13d) is welded to the top of the base plate (13), and the output shaft of the second rotary cylinder (2) is connected to the square frame (13d); the third telescopic cylinder (5) is installed inside the square frame (13d), and the telescopic rod of the third telescopic cylinder (5) passes through the bottom plate of the square frame (13d) and is connected to the slider (15).

3. A robotic arm as described in claim 2, characterized in that, A first connecting post (13e) is provided on the top of the frame (13d), and a rectangular insertion hole is provided in the center of the first connecting post (13e); the end of the output shaft of the second rotary cylinder (2) is prismatic and is inserted into the rectangular insertion hole of the first connecting post (13e); a plurality of fastening bolts are inserted laterally between the first connecting post (13e) and the output shaft of the second rotary cylinder (2).

4. The robotic arm as described in claim 1, characterized in that, The rotating shaft seat (7) is provided with a flange edge (7a), and the flange edge (7a) overlaps the top surface of the cylinder (6a), and the flange edge (7a) is screwed to the cylinder (6a).

5. A robotic arm as described in claim 1, characterized in that, A bearing (17) is provided between the rotating shaft seat (7) and the rotating shaft (8).

6. A robotic arm as described in claim 1, characterized in that, A connector (18) is provided between the balance support frame (9) and the top of the piston rod of the first telescopic cylinder (3); the connector (18) includes a plate part (18a) and a shaft part (18b). A connecting plate (9a) is provided on the bottom surface of the balance support frame (9); the plate body (18a) of the connecting member (18) is bolted to the connecting plate of the balance support frame (9); A rectangular insertion hole is provided on the shaft part (18b) of the connector (18). The end of the telescopic rod of the first telescopic cylinder (3) is prism-shaped and is inserted into the rectangular insertion hole of the shaft part (18b). Multiple fastening bolts are inserted horizontally between the shaft part (18b) and the telescopic rod of the first telescopic cylinder (3).

7. A robotic arm as described in claim 1, characterized in that, The balance support frame (9) includes a vertical plate (9b), and the left end cover of the second telescopic cylinder (4) is connected to the vertical plate (9b) by screws; a fixing plate (9c) is welded on the balance support frame (9); the fixing plate (9c) is bolted to the left end cover of the second telescopic cylinder (4).

8. A robotic arm as described in claim 1, characterized in that, The sliding seat (11) includes a sliding connection part (11a) and a rectangular plate (11b) integrally formed at the lower end of the sliding connection part (11a). The rectangular plate (11b) is screwed to the second rotary cylinder (2); a sliding hole (11c) is provided on the sliding connection part (11a); the guide rod (10) is slidably inserted into the sliding hole (11c); A second connecting post (11d) is welded to the end face of the sliding connection part (11a), and a rectangular insertion hole is provided in the center of the second connecting post (11d); the end of the telescopic rod of the second telescopic cylinder (4) is prismatic and is inserted into the rectangular insertion hole of the second connecting post (11d); a plurality of fastening bolts are inserted between the second connecting post (11d) and the telescopic rod of the second telescopic cylinder (4).

9. A robotic arm as described in claim 1, characterized in that, The balance support frame (9) includes a balance block (9d); the balance block (9d) is disposed on one end of the balance support frame (9) away from the sliding seat (11).

10. A robotic arm as described in claim 2, characterized in that, It also includes an air storage cylinder (19), which is connected to the main air intake pipe (20) through a pipeline; the main air intake pipe (20) is connected to the first rotary cylinder (1), the second rotary cylinder (2), the first telescopic cylinder (3), the second telescopic cylinder (4), and the third telescopic cylinder (5) through the air intake branch pipes respectively; a three-position four-way solenoid reversing valve (21) is provided on each air intake branch pipe respectively; a water separator (22), a pressure reducing valve (23), and an oil mist lubricator (24) are installed in sequence on the pipeline between the air storage cylinder (19) and the main air intake pipe (20).

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