Mechanical arm with levelling function and vehicle

Abstract

The utility model provides a kind of mechanical arm and vehicle with leveling function belong to mechanical arm technical field, including bottom arm, main arm, folding arm, workbench, connecting rod, adjusting rod, main leveling oil cylinder and from leveling oil cylinder;Bottom arm, main arm, folding arm and workbench are sequentially hinged, and connecting rod, adjusting rod, folding arm and workbench form parallelogram mechanism;The cylinder body of main leveling oil cylinder is hinged with bottom arm, and piston rod is hinged with main arm;The cylinder body of from leveling oil cylinder is hinged with main arm, and piston rod is hinged with adjusting rod;The rod cavity of main leveling oil cylinder is communicated with the rod cavity of from leveling oil cylinder, and the rodless cavity of main leveling oil cylinder is communicated with the rodless cavity of from leveling oil cylinder.Main arm lifts, main leveling oil cylinder is passive telescopic, since main leveling oil cylinder and from leveling oil cylinder are communicated with each other, from leveling oil cylinder synchronous telescopic drives adjusting rod relative main arm rotation.Adjusting rod rotates to descend when main arm rises, and adjusting rod rotates to ascend when main arm descends, so that workbench can be guaranteed to be in horizontal state.

Description

Technical Field

[0001] This utility model belongs to the field of robotic arm technology, and more specifically, it relates to a robotic arm and vehicle with leveling function. Background Technology

[0002] For aerial work platforms equipped with robotic arms, a work cabin is installed at the top of the robotic arm. After the workers and related equipment are carried in the work cabin, the work cabin is moved and lifted to a designated high-altitude position by manipulating the boom. It is mainly used in fire fighting and rescue, installation and maintenance, and airport de-icing operations. During the boom's luffing motion, the work cabin must be kept level at all times. The work cabin leveling mechanism is a key structural component connecting the boom and the work cabin, and its leveling performance directly affects the stability of the work cabin's movement.

[0003] In the prior art, Chinese utility model patent CN215141297U discloses a high-altitude spraying device for a crane-mounted robot, in which the platform at the top of the telescopic boom is controlled to be level by a platform leveling component. In this solution, when the crane boom moves up and down (lifts and lowers), the platform will tilt accordingly. After the level sensor installed on the platform detects the tilt information, it sends a signal to the leveling control system in the electrical control box. After receiving the signal of the platform tilt degree, the leveling control system analyzes and calculates and sends a movement command to the electric push rod, controlling the electric push rod to extend and retract, adjusting the platform to always be in a level state. However, the platform leveling component in this solution requires an additional control system to work with the level sensor to achieve adjustment, and the combination of hardware and software makes the leveling system relatively complex.

[0004] Existing technologies also include leveling solutions using purely mechanical four-bar linkages, relying on the physical property that opposite sides of a parallelogram remain parallel to level the work platform. However, for some applications with multi-section robotic arms, such as the Chinese invention patent application CN115503977A entitled "De-icing Vehicle with One-Key Centering Function and Boom Centering Control Method," even though the operating cabin achieves angle leveling through a folding arm with a parallelogram mechanism and two sections of the arm, when the pitch angle of one section of the arm changes with the turntable, the angle of the operating cabin cannot be synchronized and kept horizontal, requiring additional adjustment measures. Summary of the Invention

[0005] To address the shortcomings of existing technologies, this utility model provides a robotic arm and vehicle with a leveling function. When the main arm is raised, the parallelogram mechanism for leveling the worktable can adjust synchronously to keep the worktable in a horizontal state.

[0006] To achieve the above objectives, the technical solution of this application provides a robotic arm with a leveling function, including a base arm, a main arm, a folding arm, a worktable, a connecting rod, and an adjusting rod. The base arm, main arm, folding arm, and worktable are sequentially hinged. A luffing cylinder is hinged between the base arm and the main arm, and a luffing cylinder is hinged between the main arm and the folding arm. The hinge point between the main arm and the folding arm is designated as hinge point one. The adjusting rod is coaxially hinged at hinge point one, and its end is hinged to one end of the connecting rod. The hinge point between the adjusting rod and the connecting rod is designated as hinge point two. The other end is hinged to the worktable, and the connecting rod, adjusting rod, folding arm and worktable form a parallelogram mechanism; it also includes a main leveling cylinder and a secondary leveling cylinder. The cylinder body of the main leveling cylinder is hinged to the bottom arm, and the piston rod of the main leveling cylinder is hinged to the main arm; the cylinder body of the secondary leveling cylinder is hinged to the main arm, and the piston rod of the secondary leveling cylinder is hinged to the adjusting rod, and the hinge point is located on the side of hinge point one away from hinge point two. The rod chamber of the main leveling cylinder is connected to the rod chamber of the secondary leveling cylinder, and the rodless chamber of the main leveling cylinder is connected to the rodless chamber of the secondary leveling cylinder.

[0007] When the position of the main boom changes under the action of the luffing cylinder, the main leveling cylinder passively extends and retracts. Since the oil chambers in the main and secondary leveling cylinders are interconnected, the secondary leveling cylinder retracts when the main leveling cylinder extends, and extends when the main leveling cylinder retracts. The secondary leveling cylinder drives the adjusting rod to rotate relative to the main boom. When the main boom rises, the adjusting rod rotates and descends; when the main boom descends, the adjusting rod rotates and rises, ensuring that the worktable remains level regardless of whether the main boom or the folding arm is raised or lowered.

[0008] Optionally, a two-way balance valve connects the main leveling cylinder and the slave leveling cylinder. The two-way balance valve has an inlet V1, an outlet C1, an inlet V2, and an outlet C2. Inlet V1 is connected to the rodless chamber of the main leveling cylinder, outlet C1 is connected to the rodless chamber of the slave leveling cylinder, inlet V2 is connected to the rod chamber of the main leveling cylinder, and outlet C2 is connected to the rod chamber of the slave leveling cylinder. The two-way balance valve provides back pressure to the slave leveling cylinder when the main arm and folding arm are stationary to prevent the worktable from tilting due to gravity.

[0009] Optionally, it also includes a two-way hydraulic lock, which has an inlet A1, an outlet B1, an inlet A2, and an outlet B2. Outlet B1 connects to the rodless chamber of the main leveling cylinder via inlet V1, and inlet A1 connects to an external directional valve and oil pump. Outlet B2 connects to the rod chamber of the main leveling cylinder via inlet V2, and inlet A2 connects to an external directional valve and oil pump. When the angle of the worktable needs to be adjusted, oil can be injected internally through inlet A1 or inlet A2. Since the main arm remains stationary during oil injection, the piston of the main leveling cylinder remains stationary, causing the piston of the leveling cylinder to change position due to oil injection, thereby achieving the adjustment of the worktable angle.

[0010] Optionally, the system also includes relief valve one and relief valve two. Relief valve one has an oil inlet X1 and an oil outlet X2, and relief valve two has an oil inlet X3 and an oil outlet X4. Oil inlet X1 is simultaneously connected to oil outlet B1, inlet V1, and the rodless chamber of the main leveling cylinder. Oil outlet X2 is used to connect to an external oil tank. Oil inlet X3 is simultaneously connected to oil outlet B2, inlet V2, and the rod chamber of the main leveling cylinder. Oil outlet X4 is used to connect to an external oil tank. If the oil pressure in the oil circuit increases abnormally, it can be relieved to the oil tank through relief valve one or relief valve two to avoid damage to the hydraulic cylinder or valve assembly.

[0011] Optionally, the system also includes a base, a telescopic main arm, and a bottom arm rotatably mounted on the top of the base. The main arm comprises a first arm section and a second arm section telescopically mounted at the end of the first arm section. The end of the first arm section away from the second arm section is hinged to the bottom arm. The folding arm and adjusting rod are both hinged to the end of the second arm section away from the first arm section. The piston rod of the main leveling cylinder is hinged to the first arm section, and the cylinder body of the secondary leveling cylinder is hinged to the second arm section. A luffing cylinder is hinged between the first arm section and the bottom arm, and a luffing cylinder is hinged between the second arm section and the folding arm. In this configuration, the entire robotic arm can extend and raise, rotate and adjust its angle, increasing the lifting height and adapting to different orientations.

[0012] A vehicle having a robotic arm with a leveling function as shown in any of the above, which can ensure that the worktable is in a horizontal state through a parallelogram mechanism and interconnected main and slave leveling cylinders, with a simple structure.

[0013] The advantages of the technical solution in this application compared to the prior art are as follows:

[0014] When the position of the main arm remains unchanged, the relative positions of hinge point one and hinge point two remain unchanged. When the tilt angle of the folding arm changes due to the change in the luffing cylinder two, the relative positions of the two hinge points of the worktable remain unchanged due to the parallelism of opposite sides of the parallelogram mechanism, and the worktable always remains parallel. When the position of the main arm changes under the action of the luffing cylinder one, the main leveling cylinder passively extends and retracts. Since the oil chambers in the main leveling cylinder and the slave leveling cylinder are connected to each other, the slave leveling cylinder synchronously extends and retracts, causing the adjusting rod to rotate relative to the main arm. When the main arm rises, the adjusting rod rotates and descends; when the main arm descends, the adjusting rod rotates and rises, ensuring that the worktable remains level even when the main arm is raised or lowered. The robotic arm with leveling function provided by this utility model maintains the level of the worktable through the linkage between its own hydraulic mechanism and mechanical structure, eliminating the need for an additional independent control system and level sensor for adjustment. The structure is simple and reliable. Attached Figure Description

[0015] To more clearly illustrate the technical solutions in the embodiments of this application, 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 application. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0016] Figure 1 A schematic diagram of the overall structure of a robotic arm with leveling function;

[0017] Figure 2 This is a schematic diagram of a parallelogram mechanism;

[0018] Figure 3 This is a schematic diagram of the hydraulic system structure of a robotic arm with leveling function.

[0019] Icons: 11. Base boom; 12. Main boom; 13. Folding boom; 14. Base; 15. First section boom; 16. Second section boom; 2. Worktable; 31. Connecting rod; 32. Adjusting rod; 41. Hinge point one; 42. Hinge point two; 43. Hinge point three; 44. Hinge point four; 51. Luffing cylinder one; 52. Luffing cylinder two; 61. Main leveling cylinder; 62. Slave leveling cylinder; 71. Two-way balance valve; 72. Two-way hydraulic lock; 73. Relief valve one; 74. Relief valve two. Detailed Implementation

[0020] To make the technical problems, technical solutions, and beneficial effects to be solved by this application clearer, the following detailed description is provided in conjunction with the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative and are not intended to limit the scope of this application.

[0021] Example 1:

[0022] This embodiment provides a robotic arm with a leveling function, based on... Figures 1 to 3As shown, the system includes a base boom 11, a main boom 12, a folding boom 13, a worktable 2, a connecting rod 31, and an adjusting rod 32. The worktable 2 is used for loading equipment or carrying personnel and needs to be kept horizontal. The base boom 11, main boom 12, folding boom 13, and worktable 2 are hinged sequentially. A luffing cylinder 51 is hinged between the base boom 11 and the main boom 12, and a luffing cylinder 52 is hinged between the main boom 12 and the folding boom 13. In use, the luffing cylinder 51 extends and retracts to rotate and raise the main boom 12, and the luffing cylinder 52 extends and retracts to rotate and raise the folding boom 13, thereby adjusting the height of the worktable 2. The hinge point between the main boom 12 and the folding arm 13 is designated as hinge point 1 41. The adjusting rod 32 is coaxially hinged at hinge point 1 41. The end of the adjusting rod 32 is hinged to one end of the connecting rod 31, and the hinge point between the adjusting rod 32 and the connecting rod 31 is designated as hinge point 2 42. The other end of the connecting rod 31 is hinged to the worktable 2. The connecting rod 31, the adjusting rod 32, the folding arm 13, and the worktable 2 form a parallelogram mechanism. Among them, the hinge point between the connecting rod 31 and the worktable 2 is hinge point 3 43, and the hinge point between the worktable 2 and the folding arm 13 is hinge point 44. Based on the property that opposite sides of a parallelogram mechanism are parallel, when the tilt angle of the adjusting rod 32 remains unchanged, and the luffing cylinder 2 52 drives the folding arm 13 to rotate, the tilt angle of the line connecting hinge point 3 43 and hinge point 44 on the worktable 2 remains unchanged, so that the worktable 2 can always maintain its initial parallel state. However, when the main boom 12 rotates under the drive of the luffing cylinder 51, the adjusting rod 32 will rotate accordingly, causing the inclination angle of the line connecting hinge point 41 and hinge point 42 to change, which will cause the worktable 2 to tilt.

[0023] To address the aforementioned issues, the robotic arm with leveling function provided in this embodiment further includes a main leveling cylinder 61 and a slave leveling cylinder 62. The cylinder body of the main leveling cylinder 61 is hinged to the bottom arm 11, and the piston rod of the main leveling cylinder 61 is hinged to the main arm 12. The cylinder body of the slave leveling cylinder 62 is hinged to the main arm 12, and the piston rod of the slave leveling cylinder 62 is hinged to the adjusting rod 32. The hinge point is located on the side of hinge point 1 41 away from hinge point 2 42. The rod chamber of the main leveling cylinder 61 is connected to the rod chamber of the slave leveling cylinder 62, and the rodless chamber of the main leveling cylinder 61 is connected to the rodless chamber of the slave leveling cylinder 62.

[0024] The main leveling cylinder 61 is a passively extending and retracting cylinder. In use, when the main boom 12 rotates and rises under the extension of the luffing cylinder 51, the main leveling cylinder 61 is passively extended. When the main boom 12 rotates and falls under the retraction of the luffing cylinder 51, the main leveling cylinder 61 is passively retracted. Since the oil chambers in the main leveling cylinder 61 and the secondary leveling cylinder 62 are interconnected, when the main leveling cylinder 61 extends, the secondary leveling cylinder 62 retracts, and when the main leveling cylinder 61 retracts, the secondary leveling cylinder 62 extends, causing the secondary leveling cylinder 62 to drive the adjusting rod 32 to rotate relative to the main boom 12. When the main boom 12 rises, the adjusting rod 32 rotates and falls relative to the main boom 12; when the main boom 12 falls, the adjusting rod 32 rotates and rises relative to the main boom 12. In this way, the tilt angle of the adjusting rod 32 relative to the horizontal plane can be designed to remain constant, and the tilt angle of the line connecting hinge point 1 41 and hinge point 2 42 remains constant. Under the action of the aforementioned parallelogram mechanism, the tilt angle of the line connecting hinge point 3 43 and hinge point 44 also remains constant, ensuring that the worktable 2 remains horizontal during the lifting and lowering of the main arm 12. This solution maintains the horizontality of the worktable 2 through the linkage between its own hydraulic mechanism and mechanical structure, eliminating the need for an additional independent control system and level sensor for adjustment, resulting in a simple and reliable structure.

[0025] Furthermore, based on Figure 1 and Figure 3 As shown, a two-way balancing valve 71 connects the main balancing cylinder 61 and the slave balancing cylinder 62. The two-way balancing valve 71 has an inlet V1, an outlet C1, an inlet V2, and an outlet C2. Inlet V1 connects to the rodless chamber of the main balancing cylinder 61, outlet C1 connects to the rodless chamber of the slave balancing cylinder 62, inlet V2 connects to the rod chamber of the main balancing cylinder 61, and outlet C2 connects to the rod chamber of the slave balancing cylinder 62. The two-way balancing valve 71 uses an existing valve body; its structure and operating principle will not be described in detail.

[0026] In operation, when the main boom 12 is stationary, the valve core of the two-way balance valve 71, which connects outlet C2 and inlet V2 on the right side, is closed. The rod chamber of the leveling cylinder 62 is closed and maintains a certain back pressure, preventing the leveling cylinder 62 from extending under gravity. Oil in the rodless chamber of the main leveling cylinder 61 also cannot flow into the rodless chamber of the leveling cylinder 62, preventing the main balance cylinder from retracting and descending under gravity. This ensures that the worktable 2 remains stably suspended and does not tilt under gravity when stationary. When the main boom 12 rotates and rises, the main leveling cylinder 61 is passively stretched, and the oil pressure in its rod chamber increases. This oil pressure is transmitted to the valve core of the two-way balance valve 71, which connects the outlet C1 and the inlet V1, so that the outlet C1 and the inlet V1 are connected at the valve core. The hydraulic oil in the rod chamber of the main leveling cylinder 61 flows through the one-way valve on the right side of the two-way balance valve 71 to the rod chamber of the leveling cylinder 62. The hydraulic oil in the rodless chamber of the leveling cylinder 62 enters the rodless chamber of the main leveling cylinder 61 through the outlet C1 and the inlet V1, and the leveling cylinder 62 contracts. When the main boom 12 rotates and descends, the main leveling cylinder 61 passively retracts, increasing the oil pressure in its rodless chamber. This oil pressure is transmitted to the valve core of the two-way balance valve 71, which connects the outlet C2 and the inlet V2, thus connecting the outlet C2 and the inlet V2 at the valve core. The hydraulic oil in the rodless chamber of the main leveling cylinder 61 flows through the one-way valve on the left side of the two-way balance valve 71 to the rodless chamber of the leveling cylinder 62. The hydraulic oil in the rod chamber of the leveling cylinder 62 enters the rod chamber of the main leveling cylinder 61 through the outlet C2 and the inlet V2, extending from the leveling cylinder 62.

[0027] Furthermore, based on Figure 1 and Figure 3 As shown, it also includes a two-way hydraulic lock 72, which has an oil inlet A1, an oil outlet B1, an oil inlet A2, and an oil outlet B2. Its structural principle is existing technology and will not be described in detail. The oil outlet B1 is connected between the inlet V1 and the rodless chamber of the main leveling cylinder 61, and the oil inlet A1 is used to connect with the external reversing valve and the oil pump. The oil outlet B2 is connected between the inlet V2 and the rod chamber of the main leveling cylinder 61, and the oil inlet A2 is used to connect with the external reversing valve and the oil pump.

[0028] During use, if the angle of the worktable 2 needs to be adjusted, oil can be injected into it through the oil inlet A1 or oil inlet A2. Specifically, the position of the main arm 12 remains stationary during oil injection, and the piston of the main leveling cylinder 61 remains stationary. If it is necessary to rotate the worktable 2 upward to adjust its angle, oil can be injected from the oil tank into the oil inlet A1 through the oil pump. The oil enters the oil circuit through the one-way valve on the left side of the two-way hydraulic lock 72. The one-way valve on the right side of the two-way hydraulic lock 72 will also open under the action of the oil injection pressure. The hydraulic oil entering from the oil inlet A1 enters the rodless chamber of the leveling cylinder 62 through the one-way valve on the left side of the two-way balance valve 71. The larger oil pressure connects the valve cores of the outlet C2 and the inlet V2. The hydraulic oil in the rod chamber of the leveling cylinder 62 is discharged through the outlet C2, the inlet V2, the outlet B2, and the inlet A2. This allows the extension of the leveling cylinder 62, the adjusting rod 32, to rotate upward while the main leveling cylinder 61 remains stationary, causing the worktable 2 to rotate upward. If it is necessary to rotate the worktable 2 downwards to adjust its angle, oil can be injected from the oil tank into the oil inlet A2 via the oil pump. The oil enters the oil circuit through the one-way valve on the right side of the two-way hydraulic lock 72. The one-way valve on the left side of the two-way hydraulic lock 72 will also open under the action of the oil injection pressure. The hydraulic oil entering from the oil inlet A2 enters the rod chamber of the leveling cylinder 62 through the one-way valve on the right side of the two-way balance valve 71. The larger oil pressure connects the valve cores of the outlet C1 and the inlet V1. The hydraulic oil in the rodless chamber of the leveling cylinder 62 is discharged through the outlet C1, the inlet V1, the outlet B1, and the inlet A1, realizing the contraction of the leveling cylinder 62 while the main leveling cylinder 61 is stationary. The adjusting rod 32 rotates downwards, causing the worktable 2 to rotate downwards.

[0029] Furthermore, based on Figure 3 As shown, it also includes relief valve 73 and relief valve 74. Relief valve 73 has an oil inlet X1 and an oil outlet X2, and relief valve 74 has an oil inlet X3 and an oil outlet X4. Oil inlet X1 is simultaneously connected to oil outlet B1, inlet V1, and the rodless chamber of the main leveling cylinder 61. Oil outlet X2 is used to connect to an external oil tank. Oil inlet X3 is simultaneously connected to oil outlet B2, inlet V2, and the rod chamber of the main leveling cylinder 61. Oil outlet X4 is used to connect to an external oil tank. If the oil pressure in the oil circuit increases abnormally, it can be relieved to the oil tank through relief valve 73 or relief valve 74 to avoid damage to the hydraulic cylinder or valve assembly.

[0030] Furthermore, based on Figure 1As shown, it also includes a base 14, a telescopic main arm 12, and a bottom arm 11 rotatably mounted on the top of the base 14. The specific mounting method is existing technology; for example, in the Chinese invention patent application CN115503977A entitled "De-icing Vehicle with One-Key Return-to-Center Function and Boom Return-to-Center Control Method," the upright is the base 14 in this application, and the turntable is the bottom arm 11. The bottom arm 11 can rotate along the base 14 to adjust the orientation of the entire robotic arm. The main boom 12 includes a first boom 15 and a second boom 16 telescopically mounted at the end of the first boom 15. The end of the first boom 15 away from the second boom 16 is hinged to the base boom 11. The folding arm 13 and the adjusting rod 32 are both hinged to the end of the second boom 16 away from the first boom 15. The piston rod of the main leveling cylinder 61 is hinged to the first boom 15, and the cylinder body of the secondary leveling cylinder 62 is hinged to the second boom 16. The luffing cylinder 51 is hinged between the first boom 15 and the base boom 11, and the luffing cylinder 52 is hinged between the second boom 16 and the folding arm 13. In this configuration, the entire robotic arm can extend and retract, raise, and rotate to adjust its angle, increasing its lifting height and adapting to different orientations.

[0031] Example 2

[0032] This embodiment provides a vehicle with a robotic arm having a leveling function as shown in Embodiment 1. This vehicle can be any engineering vehicle with a lifting function, such as an airport de-icing vehicle or a fire-fighting aerial rescue vehicle. The vehicle, through a hydraulic system consisting of interconnected main leveling cylinders 61 and secondary leveling cylinders 62, in conjunction with a parallelogram mechanism, ensures that the worktable 2 is level, eliminating the need for an additional independent control system and level sensor for adjustment. The structure is simple and reliable.

[0033] The above description is merely a preferred embodiment of this application and is not intended to limit this application. Any modifications, equivalent substitutions, and improvements made within the spirit and principles of this application should be included within the protection scope of this application.

Claims

1. A robotic arm with a leveling function, comprising a base arm, a main arm, a folding arm, a worktable, a connecting rod, and an adjusting rod, wherein the base arm, the main arm, the folding arm, and the worktable are sequentially hinged; a first luffing cylinder is hinged between the base arm and the main arm, and a second luffing cylinder is hinged between the main arm and the folding arm; the hinge point between the main arm and the folding arm is designated as hinge point one; the adjusting rod is coaxially hinged at hinge point one; one end of the adjusting rod is hinged to one end of the connecting rod, and the hinge point between the adjusting rod and the connecting rod is designated as hinge point two; the other end of the connecting rod is hinged to the worktable; the connecting rod, the adjusting rod, the folding arm, and the worktable form a parallelogram mechanism. Its features are: It also includes a main leveling cylinder and a secondary leveling cylinder. The cylinder body of the main leveling cylinder is hinged to the bottom arm, and the piston rod of the main leveling cylinder is hinged to the main arm. The cylinder body of the secondary leveling cylinder is hinged to the main arm, and the piston rod of the secondary leveling cylinder is hinged to the adjusting rod. The hinge point is located on the side of hinge point one away from hinge point two. The rod chamber of the main leveling cylinder is connected to the rod chamber of the secondary leveling cylinder, and the rodless chamber of the main leveling cylinder is connected to the rodless chamber of the secondary leveling cylinder.

2. The robotic arm with leveling function as described in claim 1, characterized in that: A bidirectional balancing valve is connected between the main leveling cylinder and the slave leveling cylinder. The bidirectional balancing valve has an inlet V1, an outlet C1, an inlet V2, and an outlet C2. The inlet V1 is connected to the rodless chamber of the main leveling cylinder, the outlet C1 is connected to the rodless chamber of the slave leveling cylinder, the inlet V2 is connected to the rod chamber of the main leveling cylinder, and the outlet C2 is connected to the rod chamber of the slave leveling cylinder.

3. The robotic arm with leveling function as described in claim 2, characterized in that: It also includes a two-way hydraulic lock, which has an oil inlet A1, an oil outlet B1, an oil inlet A2, and an oil outlet B2; The oil outlet B1 is connected between the inlet V1 and the rodless chamber of the main leveling cylinder, and the oil inlet A1 is used to connect with the external reversing valve and the oil pump; the oil outlet B2 is connected between the inlet V2 and the rod chamber of the main leveling cylinder, and the oil inlet A2 is used to connect with the external reversing valve and the oil pump.

4. The robotic arm with leveling function as described in claim 3, characterized in that: It also includes overflow valve one and overflow valve two, wherein overflow valve one has an oil inlet X1 and an oil outlet X2, and overflow valve two has an oil inlet X3 and an oil outlet X4; The oil inlet X1 is simultaneously connected to the oil outlet B1, the inlet V1, and the rodless chamber of the main leveling cylinder; the oil outlet X2 is used to connect to an external oil tank; the oil inlet X3 is simultaneously connected to the oil outlet B2, the inlet V2, and the rod chamber of the main leveling cylinder; the oil outlet X4 is used to connect to an external oil tank.

5. The robotic arm with leveling function as described in any one of claims 1-4, characterized in that: It also includes a base, the main arm is a telescopic arm, the bottom of the base arm is rotatably mounted on the top of the base, the main arm includes a first arm section and a second arm section telescopically mounted on the end of the first arm section, the end of the first arm section away from the second arm section is hinged to the base arm, the folding arm and the adjusting rod are both hinged to the end of the second arm section away from the first arm section, the piston rod of the main leveling cylinder is hinged to the first arm section, the cylinder body of the secondary leveling cylinder is hinged to the second arm section, the luffing cylinder one is hinged between the first arm section and the base arm, and the luffing cylinder two is hinged between the second arm section and the folding arm.

6. A vehicle, characterized in that: A robotic arm with leveling function as described in any one of claims 1-5.

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