CN109048882B

CN109048882B - Mechanical arm

Info

Publication number: CN109048882B
Application number: CN201811279751.6A
Authority: CN
Inventors: 冯晶晶; 谢黎; 董泽峰; 钟文涛; 杨裕才
Original assignee: Gree Electric Appliances Inc of Zhuhai; Zhuhai Gree Intelligent Equipment Co Ltd
Current assignee: Gree Electric Appliances Inc of Zhuhai; Zhuhai Gree Intelligent Equipment Co Ltd
Priority date: 2018-10-30
Filing date: 2018-10-30
Publication date: 2024-04-02
Anticipated expiration: 2038-10-30
Also published as: CN109048882A

Abstract

The invention provides a mechanical arm, which comprises a driving part, a transmission connecting rod assembly, a working connecting rod assembly and a limiting part, wherein the transmission connecting rod assembly is connected with the driving part, the working connecting rod assembly is movably connected with the transmission connecting rod assembly, the driving part can drive the transmission connecting rod assembly to drive the working connecting rod assembly to operate, at least one of the transmission connecting rod assembly and the working connecting rod assembly is provided with the limiting part, and the limiting part is used for preventing the axes of the two connecting rods connected in the transmission connecting rod assembly or the working connecting rod assembly from being parallel, so that the transmission connecting rod assembly or the working connecting rod assembly of the mechanical arm is prevented from being positioned at a dead point position, and the safety performance of the mechanical arm is improved.

Description

Mechanical arm

Technical Field

The invention relates to the technical field of robot equipment, in particular to a mechanical arm.

Background

The four-axis palletizing robot is composed of a plurality of parallelogram link mechanisms, the end face of the working end can be guaranteed to be parallel to the horizontal direction all the time, meanwhile, due to the existence of the parallelogram link mechanisms, the palletizing robot is normally limited by programming soft to avoid dead point positions of the parallelogram mechanisms during working, and when programming errors or other external forces act, the parallelogram mechanisms still can be located at the dead point positions to cause damage to mechanical arms.

Disclosure of Invention

The invention mainly aims to provide a mechanical arm so as to solve the problem that the mechanical arm is easy to damage in the prior art.

To achieve the above object, according to one aspect of the present invention, there is provided a robot arm including: a driving section; the transmission connecting rod assembly is connected with the driving part; the driving part can drive the transmission connecting rod assembly to drive the working connecting rod assembly to operate; and the limiting part is used for preventing the axes of the two connecting rods connected in the transmission connecting rod assembly or the working connecting rod assembly from being parallel.

Further, the plurality of transmission link assemblies are arranged, the plurality of transmission link assemblies are connected with the working link assembly, and at least one of the plurality of transmission link assemblies is connected with the driving part.

Further, the plurality of drive link assemblies includes: the first connecting rod assembly is connected with the driving part; the second connecting rod assembly is connected with the driving part; the working connecting rod assembly is connected with the first connecting rod assembly and the second connecting rod assembly respectively, at least one of the first connecting rod assembly, the second connecting rod assembly and the working connecting rod assembly is provided with a limiting part, and the driving part can drive the first connecting rod assembly and/or the second connecting rod assembly to act so as to drive the working connecting rod assembly to work.

Further, the working connecting rod assembly comprises a plurality of connecting rods, the connecting rods are hinged in sequence, and the first connecting rod assembly and the second connecting rod assembly are respectively connected with two adjacent connecting rods in the plurality of connecting rods.

Further, the working link assembly includes: the first end of the first connecting rod is connected with the first connecting rod assembly; the first end of the second connecting rod is hinged with the first end of the first connecting rod; the first end of the third connecting rod is hinged with the second end of the second connecting rod, and the third connecting rod is provided with a working part; the first end of the fourth connecting rod is hinged with the second end of the first connecting rod, and the second end of the fourth connecting rod is hinged with the second end of the third connecting rod; the driving part can drive the first connecting rod assembly and/or the second connecting rod assembly to act so that the third connecting rod drives the working part to operate within a preset range.

Further, the driving part comprises a first driving part and a second driving part, the output shaft of the first driving part and the output shaft of the second driving part are coaxially arranged, the output shaft of the first driving part is connected with the first connecting rod assembly, and the output shaft of the second driving part is connected with the second connecting rod assembly.

Further, the first link assembly, the second link assembly or the working link assembly comprises a plurality of links, the links are hinged in sequence, wherein a limiting part is arranged between at least two adjacent links in the plurality of links, and the limiting part comprises: the stop block is arranged at the end part of one connecting rod of the two adjacent connecting rods, which is close to the hinge joint; the limiting block is arranged at the end part of the other connecting rod, which is close to the hinging part, and when the driving part drives the first connecting rod component and/or the second connecting rod component to drive the working connecting rod component to rotate to a preset angle, the limiting block can be abutted with the limiting block.

Further, the limiting blocks are multiple, the limiting blocks are arranged at intervals around the circumference of the hinge shafts of the two adjacent connecting rods, a limiting space is formed between the two adjacent limiting blocks, and the stop block can move in the limiting space to stop the limiting blocks.

Further, the robotic arm includes the base, and drive portion is connected with the base, and spacing portion includes stop dog and stopper, and first link assembly includes: the first end of the fifth connecting rod is connected with the first driving part, and a stop block is arranged at the first end of the fifth connecting rod; the first end of the sixth connecting rod is fixedly connected with the base, the first end of the fifth connecting rod is rotatably connected with the first end of the sixth connecting rod, a first limiting block and a second limiting block are arranged at the first end of the sixth connecting rod, the first limiting block and the second limiting block are arranged at a distance, a limiting space is formed between the first limiting block and the second limiting block, and the stop block can move in the limiting space to stop the first limiting block or the second limiting block; a seventh connecting rod, the first end of which is hinged with the second end of the sixth connecting rod; and the first end of the eighth connecting rod is hinged with the second end of the seventh connecting rod, the second end of the eighth connecting rod is hinged with the second end of the fifth connecting rod, and the second end of the eighth connecting rod is fixedly connected with the first end of the first connecting rod.

Further, the axis of the eighth link is disposed at an angle to the first link axis, and a stiffening beam is disposed between the first end of the eighth link and the second end of the first link.

Further, the second link assembly includes: a first limiting block is arranged at the first end of the ninth connecting rod, and a second limiting block is arranged at the second end of the ninth connecting rod; a tenth connecting rod, the first end of which is hinged with the first end of the ninth connecting rod, the second end of which is hinged with the second end of the fifth connecting rod, the second end of which is connected with the first end of the second connecting rod, and a first stop block matched with the first stop block is arranged on the tenth connecting rod; and the first end of the eleventh connecting rod is connected with the second driving part, the second end of the eleventh connecting rod is hinged with the second end of the ninth connecting rod, and a second stop block matched with the second limiting block is arranged on the eleventh connecting rod.

Further, the drive link assembly and/or the working link assembly is a parallelogram link mechanism.

Further, the working face of the working portion is parallel to the horizontal plane.

Further, the stop block and/or the limiting block are/is of a boss structure, a containing groove is formed in the boss structure, the containing groove can be used for filling a rubber block, and the rubber block is used for buffering contact force between the stop block and the limiting block.

By applying the technical scheme of the invention, the transmission connecting rod assembly is connected with the working connecting rod assembly, at least one of the transmission connecting rod assembly and the working connecting rod assembly is provided with the limiting part, and the limiting part is used for preventing the axes of the two connecting rods connected in the transmission connecting rod assembly or the working connecting rod assembly from being parallel, so that the transmission connecting rod assembly or the working connecting rod assembly of the mechanical arm is prevented from being positioned at the dead point position, and the safety performance of the mechanical arm is improved.

Drawings

The accompanying drawings, which are included to provide a further understanding of the invention and are incorporated in and constitute a part of this specification, illustrate embodiments of the invention and together with the description serve to explain the invention. In the drawings:

FIG. 1 shows a schematic structural view of an embodiment of a robot arm according to the present invention;

fig. 2 is a schematic structural view of an embodiment one of a limiting portion of a mechanical arm according to the present invention;

fig. 3 shows a schematic structural view of a second embodiment of a limiting part of a mechanical arm according to the present invention;

fig. 4 shows a schematic structural view of an embodiment three of a limit part of a mechanical arm according to the present invention;

fig. 5 shows a schematic structural view of an embodiment four of a limit part of a mechanical arm according to the present invention.

Wherein the above figures include the following reference numerals:

10. a driving section;

20. a drive link assembly; 21. a first link assembly; 211. an eighth link; 212. a seventh link; 213. a fifth link; 214. a sixth link; 22. a second link assembly; 221. a ninth link; 222. a tenth connecting rod; 223. an eleventh link;

30. a limit part; 31. a stop block; 311. a first stopper; 312. a second stopper; 32. a limiting block; 321. a first limiting block; 322. a second limiting block;

40. a working link assembly; 41. a first link; 42. a second link; 43. a third link; 431. a working section; 44. and a fourth link.

Detailed Description

It should be noted that, in the case of no conflict, the embodiments and features in the embodiments may be combined with each other. The invention will be described in detail below with reference to the drawings in connection with embodiments.

It is noted that the terminology used herein is for the purpose of describing particular embodiments only and is not intended to be limiting of example embodiments in accordance with the present application. As used herein, the singular is also intended to include the plural unless the context clearly indicates otherwise, and furthermore, it is to be understood that the terms "comprises" and/or "comprising" when used in this specification are taken to specify the presence of stated features, steps, operations, devices, components, and/or combinations thereof.

It should be noted that the terms "first," "second," and the like in the description and claims of this application and the accompanying drawings are used for distinguishing between similar objects and not necessarily for describing a particular sequential or chronological order. It is to be understood that the terms so used are interchangeable under appropriate circumstances such that the embodiments of the application described herein are, for example, capable of operation in sequences other than those illustrated or otherwise described herein. Furthermore, the terms "comprises," "comprising," and "having," and any variations thereof, are intended to cover a non-exclusive inclusion, such that a process, method, system, article, or apparatus that comprises a list of steps or elements is not necessarily limited to those steps or elements expressly listed but may include other steps or elements not expressly listed or inherent to such process, method, article, or apparatus.

Spatially relative terms, such as "above … …," "above … …," "upper surface at … …," "above," and the like, may be used herein for ease of description to describe one device or feature's spatial location relative to another device or feature as illustrated in the figures. It will be understood that the spatially relative terms are intended to encompass different orientations in use or operation in addition to the orientation depicted in the figures. For example, if the device in the figures is turned over, elements described as "above" or "over" other devices or structures would then be oriented "below" or "beneath" the other devices or structures. Thus, the exemplary term "above … …" may include both orientations of "above … …" and "below … …". The device may also be oriented 90 degrees or at other orientations and the spatially relative descriptors used herein interpreted accordingly.

Exemplary embodiments according to the present application will now be described in more detail with reference to the accompanying drawings. These exemplary embodiments may, however, be embodied in many different forms and should not be construed as limited to the embodiments set forth herein. It should be understood that these embodiments are provided so that this disclosure will be thorough and complete, and will fully convey the concept of these exemplary embodiments to those skilled in the art, that in the drawings, it is possible to enlarge the thicknesses of layers and regions for clarity, and that identical reference numerals are used to designate identical devices, and thus descriptions thereof will be omitted.

As shown in connection with fig. 1-5, a robot arm is provided according to an embodiment of the present invention.

Specifically, as shown in fig. 1, the mechanical arm comprises a driving part 10, a transmission link assembly 20, a working link assembly 40 and a limiting part 30, wherein the transmission link assembly 20 is connected with the driving part 10, the working link assembly 40 is movably connected with the transmission link assembly 20, the driving part 10 can drive the transmission link assembly 20 to drive the working link assembly 40 to operate, at least one of the transmission link assembly 20 and the working link assembly 40 is provided with the limiting part 30, and the limiting part 30 is used for preventing the axes of two connected links in the transmission link assembly 20 or the working link assembly 40 from being parallel.

In the embodiment, the transmission connecting rod assembly is connected with the working connecting rod assembly, at least one of the transmission connecting rod assembly and the working connecting rod assembly is provided with the limiting part, and the limiting part is used for preventing the axes of the two connecting rods connected in the transmission connecting rod assembly or the working connecting rod assembly from being parallel, so that the transmission connecting rod assembly or the working connecting rod assembly of the mechanical arm is prevented from being positioned at the dead point position, and the safety performance of the mechanical arm is improved.

In the present embodiment, the transmission link assemblies 20 are plural, the plural transmission link assemblies 20 are each connected to the working link assembly 40, and at least one of the plural transmission link assemblies 20 is connected to the driving part 10. The plurality of transmission link assemblies 20 are driven to move by the driving part 10, so that the working link assembly 40 can be effectively driven to work, thereby improving the working accuracy of the working link assembly 40.

As shown in fig. 1, the plurality of transmission link assemblies 20 include a first link assembly 21 and a second link assembly 22, the first link assembly 21 is connected with the driving portion 10, the second link assembly 22 is connected with the driving portion 10, the working link assembly 40 is connected with the first link assembly 21 and the second link assembly 22 respectively, at least one of the first link assembly 21, the second link assembly 22 and the working link assembly 40 is provided with a limiting portion 30, and the driving portion 10 can drive the first link assembly 21 or the second link assembly 22 to act, or can drive both to act simultaneously to drive the working link assembly 40 to operate. By driving the first and second link assemblies 21 and 22 to move by the driving part 10, the working link assembly 40 can be effectively driven to work, so that the work accuracy of the working link assembly 40 can be improved.

In the present embodiment, the working link assembly 40 includes a plurality of links which are sequentially hinged, and the first link assembly 21 and the second link assembly 22 are respectively connected to adjacent two links of the plurality of links. The driving part 10 drives the first link assembly 21 and the second link assembly 22 to further drive two adjacent links of the working link assembly 40 to move, so as to improve the working accuracy of the working link assembly 40.

Further, the working link assembly 40 includes a first link 41, a second link 42, a third link 43 and a fourth link 44, the first end of the first link 41 is connected with the first link assembly 21, the first end of the second link 42 is connected with the second link assembly 22, the first end of the second link 42 is hinged with the first end of the first link 41, the first end of the third link 43 is hinged with the second end of the second link 42, the third link 43 is provided with a working portion 431, the first end of the fourth link 44 is hinged with the second end of the first link 41, the second end of the fourth link 44 is hinged with the second end of the third link 43, and the driving portion 10 can drive the first link assembly 21 or the second link assembly 22 to act, or can drive both to act simultaneously, so that the third link 43 drives the working portion 431 to operate within a preset range. This arrangement improves the accuracy of operation of the work linkage assembly 40. Wherein the first, second, third and fourth links 41, 42, 43 and 44 are sequentially hinged as a parallelogram link assembly.

In the present embodiment, the driving section 10 includes a first driving section and a second driving section, the output shaft of the first driving section and the output shaft of the second driving section are coaxially disposed, the output shaft of the first driving section is connected to the first link assembly 21, and the output shaft of the second driving section is connected to the second link assembly 22. This arrangement improves the control accuracy of the first link assembly 21 and the second link assembly 22.

As shown in fig. 2 to 5, the first link assembly 21, the second link assembly 22 or the working link assembly 40 includes a plurality of links, the links are hinged in sequence, wherein a limit part 30 is disposed between at least two adjacent links in the plurality of links, the limit part 30 includes a stop block 31 and a limit block 32, the stop block 31 is disposed at an end of one link of the two adjacent links, which is close to the hinge, the limit block 32 is disposed at an end of the other link, which is close to the hinge, and when the driving part 10 drives the first link assembly 21 or the second link assembly 22 to drive the working link assembly 40 to rotate to a preset angle, the stop block 31 can be abutted against the limit block 32. The arrangement avoids that the transmission connecting rod assembly or the working connecting rod assembly of the mechanical arm is positioned at the dead point position, and improves the safety performance of the mechanical arm.

As shown in fig. 3, the limiting blocks 32 are plural, the plural limiting blocks 32 are disposed at intervals around the circumference of the hinge shaft of two adjacent links, a limiting space is formed between two adjacent limiting blocks 32, and the stop block 31 can move in the limiting space to stop the limiting blocks 32. The arrangement avoids that the transmission connecting rod assembly or the working connecting rod assembly of the mechanical arm is positioned at the dead point position, and improves the safety performance of the mechanical arm.

As shown in fig. 1 and 3, the mechanical arm includes a base, the driving part 10 is connected with the base, the limit part 30 includes a stop block 31 and a limit block 32, the first link assembly 21 includes a fifth link 213, a sixth link 214, a seventh link 212, and an eighth link 211, a first end of the fifth link 213 is connected with the first driving part, a first end of the fifth link 213 is provided with the stop block 31, a first end of the sixth link 214 is fixedly connected with the base, a first end of the fifth link 213 is rotatably connected with a first end of the sixth link 214, a first limit block 321 and a second limit block 322 are provided at a first end of the sixth link 214, the first limit block 321 and the second limit block 322 are disposed with a distance therebetween, a limit space is formed between the first limit block 321 and the second limit block 322, the stop block 31 is movable in the limit space to stop the first limit block 321 or the second limit block 322, a first end of the seventh link 212 is hinged with a second end of the sixth link 214, a first end of the eighth link 211 is hinged with a second end of the seventh link 212, a first end of the eighth link 211 is hinged with a first end of the eighth link 211, and a second end of the eighth link 211 is fixedly connected with a first end of the eighth link 211. The arrangement avoids that the transmission connecting rod assembly or the working connecting rod assembly of the mechanical arm is positioned at the dead point position, and improves the safety performance of the mechanical arm.

As shown in fig. 1, the axis of the eighth link 211 is disposed at an angle to the axis of the first link 41, and a reinforcing beam is disposed between the first end of the eighth link 211 and the second end of the first link 41. The axis of the eighth link 211 is disposed at an angle to the axis of the first link 41 such that the working link assembly 40 is disposed at an angle to the first and second link assemblies 21 and 22, so that the working link assembly 40 can be used for a wide range of operations in the lateral direction, and the operation range of the robot arm can be improved.

As shown in fig. 1 to 3, the second link assembly 22 includes a ninth link 221, a tenth link 222, and an eleventh link 223, a first end of the ninth link 221 is provided with a first stopper 321, a second end of the ninth link 221 is provided with a second stopper 322, a first end of the tenth link 222 is hinged with the first end of the ninth link 221, a second end of the tenth link 222 is hinged with a second end of the fifth link 213, a second end of the tenth link 222 is connected with a first end of the second link 42, a first stopper 311 engaged with the first stopper 321 is provided on the tenth link 222, a first end of the eleventh link 223 is connected with the second driving part, a second end of the eleventh link 223 is hinged with a second end of the ninth link 221, and a second stopper 312 engaged with the second stopper 322 is provided on the eleventh link 223. The second connecting rod assembly 22 can move towards two directions, namely, when moving towards two dead point positions, the first limiting block 321 is matched with the first stop block 311 or the second limiting block 322 is matched with the second stop block 312, so that the second connecting rod assembly of the mechanical arm is prevented from being positioned at the dead point positions, and the safety performance of the mechanical arm is improved.

In this embodiment, the transmission link assembly 20 or the working link assembly 40 is a parallelogram link mechanism, and of course, both may be parallelogram link mechanisms at the same time, so that the flexibility of the movement of the transmission link assembly 20 and the working link assembly 40 is improved, and the working surface of the working portion 431 is convenient to be parallel to the horizontal plane.

In this embodiment, the stop block 31 or the stopper 32 is of a boss structure, and of course, both may be of a boss structure, and an accommodating groove is formed in the boss structure, and the accommodating groove may be used for filling a rubber block, where the rubber block is used for buffering the contact force between the stop block 31 and the stopper 32. The rubber block can be worn continuously, but the rubber block can be replaced through the accommodating groove of the boss, so that the safety performance of the mechanical arm is improved, and the service life of the mechanical arm is prolonged.

In addition to the foregoing, references in the specification to "one embodiment," "another embodiment," "an embodiment," etc., mean that a particular feature, structure, or characteristic described in connection with the embodiment is included in at least one embodiment described in general terms in the application. The appearances of the phrase in various places in the specification are not necessarily all referring to the same embodiment. Further, when a particular feature, structure, or characteristic is described in connection with any embodiment, it is intended that such feature, structure, or characteristic be implemented within the scope of the invention.

In the foregoing embodiments, the descriptions of the embodiments are emphasized, and for parts of one embodiment that are not described in detail, reference may be made to related descriptions of other embodiments.

The above description is only of the preferred embodiments of the present invention and is not intended to limit the present invention, but various modifications and variations can be made to the present invention by those skilled in the art. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present invention should be included in the protection scope of the present invention.

Claims

1. A robotic arm, comprising:

a driving unit (10);

a transmission link assembly (20), the transmission link assembly (20) being connected to the driving part (10);

the working connecting rod assembly (40), the working connecting rod assembly (40) is movably connected with the transmission connecting rod assembly (20), and the driving part (10) can drive the transmission connecting rod assembly (20) to drive the working connecting rod assembly (40) to operate;

and a limiting part (30), wherein at least one of the transmission connecting rod assembly (20) and the working connecting rod assembly (40) is provided with the limiting part (30), and the limiting part (30) is used for preventing the axes of the two connecting rods connected in the transmission connecting rod assembly (20) or the working connecting rod assembly (40) from being parallel.

2. The mechanical arm according to claim 1, wherein the plurality of transmission link assemblies (20) is provided, wherein a plurality of the transmission link assemblies (20) are each connected to the working link assembly (40), and wherein at least one of the plurality of transmission link assemblies (20) is connected to the driving part (10).

3. The robotic arm of claim 2, wherein a plurality of said drive link assemblies (20) comprise:

a first link assembly (21), the first link assembly (21) being connected to the drive section (10);

a second link assembly (22), the second link assembly (22) being connected to the driving part (10);

the working connecting rod assembly (40) is respectively connected with the first connecting rod assembly (21) and the second connecting rod assembly (22), at least one of the first connecting rod assembly (21) and the second connecting rod assembly (22) and the working connecting rod assembly (40) is provided with a limiting part (30), and the driving part (10) can drive the first connecting rod assembly (21) and/or the second connecting rod assembly (22) to act so as to drive the working connecting rod assembly (40) to operate.

4. A mechanical arm according to claim 3, wherein the working link assembly (40) comprises a plurality of links, the plurality of links being sequentially articulated, the first link assembly (21) and the second link assembly (22) being respectively connected to adjacent two of the plurality of links.

5. The robotic arm of claim 4, wherein the working link assembly (40) comprises:

a first link (41), a first end of the first link (41) being connected to the first link assembly (21);

a second link (42), a first end of the second link (42) being connected to the second link assembly (22), the first end of the second link (42) being hinged to the first end of the first link (41);

a third connecting rod (43), wherein a first end of the third connecting rod (43) is hinged with a second end of the second connecting rod (42), and a working part (431) is arranged on the third connecting rod (43);

a fourth link (44), a first end of the fourth link (44) being hinged to the second end of the first link (41), a second end of the fourth link (44) being hinged to the second end of the third link (43);

the driving part (10) can drive the first connecting rod assembly (21) and/or the second connecting rod assembly (22) to act, so that the third connecting rod (43) drives the working part (431) to work in a preset range.

6. The mechanical arm according to claim 5, characterized in that the driving part (10) comprises a first driving part and a second driving part, the output shaft of the first driving part and the output shaft of the second driving part are coaxially arranged, the output shaft of the first driving part is connected with the first connecting rod assembly (21), and the output shaft of the second driving part is connected with the second connecting rod assembly (22).

7. A mechanical arm according to claim 3, wherein the first link assembly (21), the second link assembly (22) or the working link assembly (40) comprises a plurality of links, the plurality of links being hinged in sequence, wherein the limit portion (30) is provided between at least two adjacent links of the plurality of links, the limit portion (30) comprising:

a stop block (31), wherein the stop block (31) is arranged at the end part, close to the hinge, of one connecting rod of two adjacent connecting rods;

the limiting block (32) is arranged at the end part of the other connecting rod, which is close to the hinging position, and when the driving part (10) drives the first connecting rod assembly (21) and/or the second connecting rod assembly (22) to drive the working connecting rod assembly (40) to rotate to a preset angle, the stop block (31) can be abutted with the limiting block (32).

8. The mechanical arm according to claim 7, wherein the stopper (32) is a plurality of stoppers (32), the plurality of stoppers (32) are disposed at intervals around the circumference of the hinge shafts of the adjacent two links, a stopper space is formed between the adjacent two stoppers (32), and the stopper block (31) is movable in the stopper space to stop the stopper (32).

9. The mechanical arm according to claim 6, characterized in that the mechanical arm comprises a base, the driving part (10) is connected with the base, the limiting part (30) comprises a stop block (31) and a limiting block (32), and the first link assembly (21) comprises:

a fifth link (213), a first end of the fifth link (213) being connected to the first driving part, the first end of the fifth link (213) being provided with the stopper (31);

a sixth connecting rod (214), a first end of the sixth connecting rod (214) is fixedly connected with the base, a first end of the fifth connecting rod (213) is rotatably connected with a first end of the sixth connecting rod (214), a first limiting block (321) and a second limiting block (322) are arranged at the first end of the sixth connecting rod (214), the first limiting block (321) and the second limiting block (322) are arranged at a distance, a limiting space is formed between the first limiting block (321) and the second limiting block (322), and the stop block (31) can move in the limiting space to stop the first limiting block (321) or the second limiting block (322);

a seventh link (212), a first end of the seventh link (212) being hinged to a second end of the sixth link (214);

the first end of the eighth connecting rod (211) is hinged with the second end of the seventh connecting rod (212), the second end of the eighth connecting rod (211) is hinged with the second end of the fifth connecting rod (213), and the second end of the eighth connecting rod (211) is fixedly connected with the first end of the first connecting rod (41).

10. The mechanical arm according to claim 9, characterized in that the axis of the eighth link (211) is arranged at an angle to the axis of the first link (41), a reinforcement beam being arranged between the first end of the eighth link (211) and the second end of the first link (41).

11. The robotic arm of claim 9, wherein the second linkage assembly (22) comprises:

a first limiting block (321) is arranged at the first end of the ninth connecting rod (221), and a second limiting block (322) is arranged at the second end of the ninth connecting rod (221);

a tenth connecting rod (222), wherein a first end of the tenth connecting rod (222) is hinged with a first end of the ninth connecting rod (221), a second end of the tenth connecting rod (222) is hinged with a second end of the fifth connecting rod (213), a second end of the tenth connecting rod (222) is connected with a first end of the second connecting rod (42), and a first stop block (311) matched with the first limiting block (321) is arranged on the tenth connecting rod (222);

the eleventh connecting rod (223), the first end of eleventh connecting rod (223) is connected with the second drive portion, the second end of eleventh connecting rod (223) is articulated with the second end of ninth connecting rod (221), be provided with on eleventh connecting rod (223) with second stopper (312) that cooperate with second stopper (322).

12. The mechanical arm according to claim 1, characterized in that the drive link assembly (20) and/or the working link assembly (40) is a parallelogram link mechanism.

13. The robot arm according to claim 5, characterized in that the working surface of the working part (431) is parallel to the horizontal plane.

14. The mechanical arm according to claim 7, wherein the stop block (31) and/or the limiting block (32) are/is of a boss structure, a containing groove is formed in the boss structure, and the containing groove can be used for filling a rubber block, and the rubber block is used for buffering contact force between the stop block (31) and the limiting block (32).