CN205521485U

CN205521485U - Robotic arm

Info

Publication number: CN205521485U
Application number: CN201620118807.XU
Authority: CN
Inventors: 钱钟锋
Original assignee: Pioneer Intelligent Machinery (shenzhen) Co Ltd
Current assignee: Shenzhen city Serse Biological Technology Co. Ltd.
Priority date: 2016-02-06
Filing date: 2016-02-06
Publication date: 2016-08-31
Anticipated expiration: 2026-02-06

Abstract

The utility model discloses a robotic arm, it includes: a arm components, the 2nd arm components, the 2nd arm components is connected through first pivot and a arm components with rotating, a first pivot perpendicular to arm components and the 2nd arm components's length direction, the 3rd arm components, the 3rd arm components pass through the second pivot and are connected with the 2nd arm components with rotating, and the second pivot is on a parallel with the 2nd arm components and the 3rd arm components's length direction, pivot seat, fourth arm components, pivot seat rotate and connect the 3rd arm components and fourth arm components, the wire drawing, at least one arm components fixed connection among a wire drawing and a arm components, the 2nd arm components, the 3rd arm components and the fourth arm components. This robotic arm can rotate for another arm components through the feasible arm components who is connected with the wire drawing of pulling wire drawing, and the drive arrangement of pulling wire drawing can establish outside robotic arm to robotic arm's structure is simplified in the dead weight that alleviates robotic arm.

Description

Mechanical arm

Technical field

This utility model relates to robot field, is specifically related to a kind of mechanical arm.

Background technology

The driving means of existing machinery arm is generally positioned at the joint that two arm are rotationally connected, and causes mechanical arm deadweight excessive, and articulation structure is complicated.

Utility model content

One of technical problem that this utility model is intended to solve in correlation technique the most to a certain extent.To this end, the utility model proposes a kind of mechanical arm.

The mechanical arm of this utility model embodiment, including: first-hand arm member；Second-hand's arm member, described second-hand's arm member is connected with described first-hand arm member rotationally by the first rotating shaft, and described first rotating shaft is perpendicular to described first-hand arm member and the length direction of described second-hand's arm member；3rd arm, described 3rd arm is connected with described second-hand's arm member rotationally by the second rotating shaft, and described second shaft parallel is in described second-hand's arm member and the length direction of described 3rd arm；Trunnion mount；4th arm, described trunnion mount is rotationally connected described 3rd arm and described 4th arm；Wire drawing, described wire drawing is fixing with at least one arm in described first-hand arm member, described second-hand's arm member, described 3rd arm and the 4th arm to be connected.

The arm that mechanical arm of the present utility model can be connected with wire drawing by pulling wire drawing to make rotates relative to another arm, in the case, what the driving means pulling wire drawing can be not limited to be arranged on two arm is rotationally connected place, and be provided in outside mechanical arm, thus alleviate the deadweight of mechanical arm, simplify the structure of mechanical arm.Meanwhile, under the pulling force effect of wire drawing, arm can rotate around another one arm, thus realizes rotating control.

In some embodiments, each arm in described first-hand arm member and described second-hand's arm member is extended with arm connector along the length direction of described arm, described arm connector is formed with axis hole, and described first axis of rotation wears described axis hole thus described first-hand arm member and described second-hand's arm member is rotationally connected.

In some embodiments, described arm connector includes two rotating shaft support frames of spaced and parallel setting, described axis hole is opened on said two rotating shaft support frame, and the said two rotating shaft support frame of one of them described arm is arranged between the said two rotating shaft support frame of another described arm.

In some embodiments, described rotating shaft support frame includes first surface and the second surface opposing with described first surface, described arm connector includes along described first surface to the wire drawing disk extended away from described second surface direction, described wire drawing disk axially the most coaxial with described first rotating shaft, the size of described wire drawing disk is more than the size of described first rotating shaft, described wire drawing includes the first arm wire drawing, and described first arm wire drawing is around described wire drawing disk and fixing with described rotating shaft support frame is connected.

In some embodiments, described second rotating shaft is fixed on one end of described 3rd arm, described second rotating shaft includes first surface and the second surface opposing with described first surface, and described second rotating shaft offers and runs through described first surface and the perforation of described second surface；

Described wire drawing includes the second arm wire drawing, described second arm wire drawing includes connecting end and pulling end, described connection end is formed with plush copper, described in pull end from the described second surface side of described second rotating shaft through after described perforation around described first surface pull until the described plush copper of described connection end be fastened on described perforation in thus described second arm wire drawing is fixed on described second rotating shaft.

In some embodiments, described mechanical arm includes steering bearing, and described second arm wire drawing pulls direction by the described second arm wire drawing of change of described steering bearing.

In some embodiments, described wire drawing includes the 3rd arm wire drawing and trunnion mount wire drawing, and described 3rd arm wire drawing is fixing with described 4th arm to be connected, and described trunnion mount wire drawing is fixing with described trunnion mount to be connected.

In some embodiments, described trunnion mount is rotationally connected with described 3rd arm by the 3rd rotating shaft, and is rotationally connected with described 4th arm by the 4th rotating shaft；

Described 3rd rotating shaft is mutually perpendicular to described 4th rotating shaft, and described 3rd arm wire drawing is around described 4th rotating shaft, and described trunnion mount wire drawing is around described 3rd rotating shaft；

The axis of described 3rd rotating shaft and the axis of described 4th rotating shaft are intersected in a bit.

In some embodiments, one end of described 4th arm is extended with rotating shaft support frame along the length direction of described 4th arm, described rotating shaft support frame offers the first axis hole, described trunnion mount offers the second axis hole, wear described first axis hole and described second axis hole described 4th axis of rotation, described rotating shaft support frame includes spaced two bracing frames, and described first axis hole is opened on support frame as described above, and described trunnion mount is between said two bracing frame.

In some embodiments, support frame as described above includes the first bracing frame surface towards described trunnion mount, it is provided with wire drawing disk on described first bracing frame surface, described 3rd arm wire drawing is wound on described wire drawing disk, described wire drawing disk is coaxially disposed with described 4th rotating shaft, and the size of described wire drawing disk is more than the size of described 4th rotating shaft.

In some embodiments, one end away from described 3rd arm of described second-hand's arm member is extended with rotating shaft support frame along the length direction of described 3rd arm, described rotating shaft support frame offers Triaxial hole, described trunnion mount offers the 4th axis hole, wears described Triaxial hole and described 4th axis hole described 3rd axis of rotation.

In some embodiments, described trunnion mount includes the first trunnion mount surface towards described 3rd arm, it is provided with wire drawing disk on described first trunnion mount surface, described trunnion mount wire drawing is wound on described wire drawing disk, described wire drawing disk is coaxially disposed with described 3rd rotating shaft, and the size of described wire drawing disk is more than the size of described 3rd rotating shaft.

Additional aspect of the present utility model and advantage will part be given in the following description, and part will become apparent from the description below, or is recognized by practice of the present utility model.

Accompanying drawing explanation

Above-mentioned and/or additional aspect of the present utility model and advantage will be apparent from easy to understand, wherein from combining the accompanying drawings below description to embodiment:

Fig. 1 is the first schematic perspective view of the mechanical arm of this utility model embodiment.

Fig. 2 is the second schematic perspective view of the mechanical arm of this utility model embodiment.

Fig. 3 is the 3rd schematic perspective view of the mechanical arm of this utility model embodiment.

Fig. 4 is the part isometric schematic diagram of the mechanical arm of this utility model embodiment.

Fig. 5 is another part isometric schematic diagram of the mechanical arm of this utility model embodiment.

Fig. 6 is I enlarged schematic partial view of the mechanical arm of Fig. 5.

Fig. 7 is the schematic perspective view of the wire drawing of the mechanical arm of this utility model embodiment.

4th schematic perspective view of the mechanical arm of Fig. 8 this utility model embodiment.

Fig. 9 is the 5th schematic perspective view of the mechanical arm of this utility model embodiment.

Figure 10 is arm and wire drawing and the connection schematic perspective view of rotating shaft of the mechanical arm of Fig. 9.

Figure 11 is the schematic perspective view of the wire drawing of the mechanical arm of Fig. 9.

Figure 12 is the arm connection diagram with wire drawing of the mechanical arm of Fig. 9.

Figure 13 is the 6th schematic perspective view of the mechanical arm of this utility model embodiment.

Figure 14 is the 7th schematic perspective view of the mechanical arm of this utility model embodiment.

Figure 15 is the 8th schematic perspective view of the mechanical arm of this utility model embodiment.

Figure 16 is the schematic perspective view of the last arm component of the mechanical arm of this utility model embodiment.

Figure 17 is trunnion mount and the schematic perspective view of rotating shaft of the mechanical arm of this utility model embodiment.

Figure 18 is the schematic perspective view of the arm wire drawing of the mechanical arm of this utility model embodiment.

The part isometric schematic diagram of the mechanical arm of Figure 19 this utility model embodiment.

Figure 20 is another part schematic perspective view of the mechanical arm of this utility model embodiment.

Figure 21 is the another part isometric schematic diagram of the mechanical arm of this utility model embodiment.

Figure 22 is the schematic perspective view of the trunnion mount wire drawing of the mechanical arm of this utility model embodiment.

Figure 23 is the schematic perspective view of another arm of the mechanical arm of this utility model embodiment.

Figure 24 is the 9th schematic perspective view of the mechanical arm of this utility model embodiment.

Detailed description of the invention

Below in conjunction with accompanying drawing, embodiment of the present utility model is described further.In accompanying drawing, same or similar label represents same or similar element from start to finish or has the element of same or like function.

It addition, the embodiment of the present utility model described below in conjunction with the accompanying drawings is exemplary, it is only used for explaining embodiment of the present utility model, and it is not intended that to restriction of the present utility model.

Referring to Fig. 1-3, the mechanical arm 100 of this utility model embodiment includes two arm 20 being rotationally connected by rotating shaft 10 and 10 wire drawing 30 that be connected fixing with at least one of which arm 20 around the shaft.

The arm 20 that the mechanical arm 100 of this utility model embodiment can be connected with wire drawing 30 by pulling wire drawing 30 to make rotates relative to another arm 20, in the case, the driving means pulling wire drawing 30 can be not limited to be arranged on the joint that two arm 20 are rotationally connected, but other suitable positions can be arranged on, even it is arranged on outside mechanical arm 100, thus alleviate the deadweight of mechanical arm 100, simplify the articulation structure of mechanical arm 100 simultaneously.

In some embodiments, rotating shaft 10 is basically perpendicular to the length direction of arm 20.

So, under the pulling force effect of wire drawing 30, arm 20 can swing around another one arm 20, thus realizes weave control.

Seeing also Fig. 4 and Fig. 5, in some embodiments, arm 20 is the tubular structure of hollow form and both ends open, and the most in some examples, arm 20 is circular tube shaped.

So, the deadweight of arm 20 can be alleviated, thus alleviate the deadweight of mechanical arm 100 further.

It will be appreciated, of course, that arm 20 is not limited to embodiments discussed above, and other suitable structures can be used as required in other embodiments.

In some embodiments, one end of arm 100 is extended with arm connector 21 along the length direction of arm 20.Arm connector 21 is formed with axis hole 22.In rotating shaft 10 rotates the axis hole 22 wearing two arm 20 thus two arm 20 are rotationally connected.

So, rotation connection structure is simple, convenient design and manufacture.

In some embodiments, arm connector 21 can be interval and two rotating shaft support frames 210 be arrangeding in parallel, and each rotating shaft support frame 210 is formed with axis hole 22, and the axis hole 22 on two rotating shaft support frames 210 of same arm connector 21 aligns.

Such as, in some embodiments, arm 20 can include lower arms component 20 (please join Fig. 4) and last arm component 20 (please join Fig. 5).

Interval between two rotating shaft support frames 210 of lower arms component 20 can be bigger than the interval of the two of last arm component 20 rotating shaft support frames 210, so, two rotating shaft support frames 210 of lower arms component 20 constitute pin joint seat, and the two of last arm component 20 rotating shaft support frames 210 can be arranged between 20 two rotating shaft support frames 210 of lower arms component (i.e. embedding in pin joint seat).Then being rotationally connected of two arm 20 is realized in being located in axis hole 22 by rotating shaft 10.

In some embodiments, rotating shaft 10 can be straight pin, and it is fixing to wear axis hole 22.

So, between two rotating shaft support frames 210 of arm connector 21, it is formed with receiving space, other elements or other design structures can be set, therefore improve the design freedom of the joint of mechanical arm 100.

Certainly, in other embodiments, the rotation connection structure between arm 20 can be not limited to embodiments discussed above, can change depending on real needs.

Seeing also Fig. 7, wire drawing 30 can be flexible stainless steel silk or the satisfactory wire drawing of intensity of other materials.Wire drawing 20 can include connecting end 31 and pulling end 32.

In some embodiments, the rotating shaft support frame 210 of the arm connector 21 of last arm component 20 includes first surface 211 and the second surface 212 opposing with first surface 211.Arm connector 21 includes extending laterally along first surface 211 being formed with wire drawing disk 213.Wire drawing disk 213 axially the most substantially parallel with rotating shaft 10 or be coaxially disposed, the size of wire drawing disk 213 is more than the size of rotating shaft 10, and wire drawing 30 is fixed with rotating shaft support frame 210 after wire drawing disk 213 and is connected.

Being appreciated that in embodiment discussed above, wire drawing 30 is i.e. 10 to arrange around the shaft around wire drawing disk 213.So can increase wire drawing 30 pulls the rotation arm of force of arm 20 to make wire drawing 30 pull arm 20 more laborsaving.It is thus possible to use the driving means of smaller power to pull wire drawing.

Rotating shaft support frame 210 is formed through the first connecting hole 214 (see Fig. 5) of first surface 211 and second surface 212 outside wire drawing disk 213.The size of the first connecting hole 214 is more than the transversal dimensions of wire drawing, to allow wire drawing 30 to wear.The end 31 that connects of wire drawing 30 could be formed with the size plush copper 311 more than the first connecting hole 214.

So, wire drawing 30 pull end 32 from second surface 212 side through pulling around wire drawing disk 213 after the first connecting hole 214 until the plush copper 311 connecting end 31 (see Fig. 8) is fastened on the first connecting hole 214 and can wire drawing 30 be fixed on rotating shaft support frame 210.

Be appreciated that by according to wire drawing 30 around arranging the wire drawing 30 radian around wire drawing disk 213 on the position arranging the first connecting hole 214, for example, 180 degree.Such that it is able to control the angle that wire drawing 30 pulls arm 20 to rotate.

In some embodiments, wire drawing 30 includes two, and two wire drawings 20 are respectively provided with on two rotating shaft support frames 210 of arm 20, and around on the contrary, so, arm can be pulled to rotate along two rightabouts.Can pull, in conjunction with every wire drawing 30, the structure that arm 20 rotates, the angle that two arm 20 can mutually rotate can be obtained.Such as, a wire drawing 30 can pull arm 20 to rotate 180 degree, and another root wire drawing 30 can pull arm 20 to rotate-180 degree, thus wire drawing 30 can pull arm 20 to rotate-180 degree to 180 degree.

Be appreciated that two silks 30 around to the mutual slewing area that can expand arm on the contrary.

Certainly, specifically arranging of wire drawing 30 can be not limited to embodiments discussed above, and can regard demand in other embodiments and arrange.

Seeing also Fig. 8, in some embodiments, mechanical arm 100 includes balancing spring 40.Two arm 20 are connected by balancing spring 40.

So, by the deadweight of the support force balancing machine arm 100 that balancing spring 40 provides, make the startup of mechanical arm 100 and run more stable, it is possible to increasing the load capacity of mechanical arm 100, improving drive efficiency.

In some embodiments, balancing spring 40 includes two, and fixing with two rotating shaft support frames 210 is respectively connected.Balancing spring 40 two ends are connected with two arm 20 respectively, when arm 20 relatively rotates, need to overcome the pulling force of balancing spring 40.When two arm 20 relatively rotate to be in vertical position, the center of gravity of the arm 20 being in upper end is substantially at rotating shaft 10 center, and the counter balance torque that now balancing spring 40 provides is minimum；When the arm 20 of upper end relatively rotates to be horizontal, the center of gravity of the arm 20 of upper end is farthest from rotating shaft 10 center, and the counter balance torque that now balancing spring 40 provides is close to maximum.So, balancing spring 40 with the deadweight of balancing machine arm 100, thus can improve the driving means service efficiency driving mechanical arm 100.

In some embodiments, balancing spring 40 includes coil spring, and includes carbine 41.It is provided with connecting shaft 215 on the second surface 212 of arm connector 21.Balancing spring 40 is arranged in connecting shaft 215 by carbine 41.

So, balancing spring 40 is connected with connecting shaft 215 by carbine 41 and is arranged in the described receiving space of arm connector 21, thus realizes balancing the effect of arm 20 deadweight.

In some embodiments, connecting shaft 215 can be straight pin.Screwed hole is offered on the second surface 212 of arm connector 21.Described straight pin and described screwed hole threaded engagement and be arranged on second surface 212.

In other embodiments, connecting shaft 215 can be arranged on second surface 212 by suitably modes such as welding, accordingly, it would be desirable to explanation, is not restricted to straight pin discussed above.

Certainly, in other embodiments, balancing spring 40 can also be torsion spring.Accordingly, it would be desirable to explanation, balancing spring 40 is not limited in coil spring discussed above.

Referring to Fig. 9 and Figure 10, this utility model embodiment provides a kind of mechanical arm 100a, mechanical arm 100a to include two the arm 20a being rotationally connected by rotating shaft 10a.In the orientation shown in Fig. 9, the wire drawing 30a of mechanical arm 100a fixes link position at upper arm 20a.

In the present embodiment, rotating shaft 10a is basically parallel to the length direction (double-head arrow direction as shown in Figure 9) of arm 20a.

So, under the pulling force effect of wire drawing 30a, arm 20a can rotate around another one arm 20a, thus realizes rotating control.

In some embodiments, two arm 20a angles in relative rotation include that-180 degree are to 180 degree.

Can arrange relative angle according to demand, in some embodiments, arm 20a has bigger slewing area, goes for more occasion.

In some embodiments.Rotating shaft 10a two ends are fixing with one end of two arm 20a respectively to be connected and at least one end is rotationally connected with at least one arm 20a.

So, mechanical arm 100a forms rotational structure, it is possible to be configured as the case may be.

Seeing also Figure 10, Figure 11 and Figure 12, in some embodiments, rotating shaft 10a is rotationally connected with one of them arm 20a.Rotating shaft 10a includes first surface 11a and the second surface 12a opposing with first surface 11a.Rotating shaft 10a offers the second connecting hole 13a running through first surface 11a and second surface 12a.Wire drawing 30a includes connecting end 31a and pulling end 32a.Connect end 31a and be formed with plush copper 311a.Pull end 32a from the second surface 12a side of rotating shaft 10a through after the second connecting hole 13a around first surface 11a pull until described plush copper 311a that connects end 31a be fastened on the second connecting hole 13a in thus wire drawing 30a is fixed on rotating shaft 10a.

So, two wire drawing 30a are directly set around at the cradle head that arm 20a is formed, thus realize rotating control by wire drawing 30a.

In some embodiments, arm 20a is the structure of hollow and both ends open.Wire drawing 30a wears arm 20a.End 32a is pulled to make a stretch of the arm component 20a.

So, wire drawing 30a, along the component 20a that makes a stretch of the arm inside arm 20a, is beneficial to protection wire drawing 30a, and structure is attractive in appearance compact.Further, the pulling of component 20a that make a stretch of the arm holds 32a directly to connect with the driving means being arranged at outside mechanical arm 100a.

In some embodiments, rotating shaft 10a is bearing.Two arm joint component 21a of two arm 20a are connected with described bearing internal external circle respectively.Two arm joints component 21a (Figure 12) are produced relative rotation by described bearing.

So, the attachment structure of arm 20a is simple, and two arm joint component 21a of mechanical arm 100a are less with the frictional force of the junction of bearing.

Specifically, described bearing in some embodiments can be crossed roller bearing.

So, described bearing can bear radial force and axial force simultaneously.

In present embodiment, wire drawing 30a includes two.Wire drawing 30a is identical with wire drawing 30.

Two wire drawing 30a can drive an arm 20a to rotate along positive and negative contrary direction relative to another arm 20a the most respectively.

In present embodiment, mechanical arm 100a includes steering bearing 40a (Figure 10).Wire drawing 30a pulls direction by steering bearing 40a change wire drawing 30a's.So, and can be configured wire drawing 30a as the case may be pull direction, wire drawing 30a is basically perpendicular to the length direction of arm 20a and becomes being basically parallel to the length direction of arm 20a by steering bearing 40a, it is easy to the driving of mechanical arm 100a, wire drawing 30a is facilitated to pass through in the middle of arm 20a, improve the stability that mechanical arm 100a runs, it is to avoid wire drawing 30a is exposed outside arm 20a, makes compact appearance attractive in appearance simultaneously.

In present embodiment, steering bearing 40a is arranged in arm 20a.So, attachment structure simple and stable.

Specifically, in present embodiment, arm 20a offers accepting hole 22a.Steering bearing 40a is arranged in accepting hole 22a.Therefore, the structure that so can make mechanical arm 100a is compacter.

In present embodiment, rotating shaft 10a is housed in arm 20a.

Specifically, in the example depicted in fig. 12, mechanical arm 100a includes last arm component 20aa and lower arms component 20ab.Rotating shaft 10a is contained in lower arms component 20ab.So, simple in construction, save space.

In present embodiment, rotating shaft 10a offers winding slot 14a.Wire drawing 30a is housed in winding slot 14a.

So, wire drawing 30a can be stably fixed to rotating shaft 10a.

Specifically, in the example depicted in fig. 12, wire drawing 30a wears the second connecting hole 13a and is housed in winding slot 14a, and the end 32a that pulls of wire drawing 30a stretches out through the sidewall of lower arms component 20ab.Therefore, the setting of winding slot 14a can make the motion of wire drawing 30a more smooth and easy, improves the operation stability of mechanical arm 100a.

Referring to Figure 13, the mechanical arm 700 of this utility model embodiment includes two arm 710, trunnion mount 720 and arm wire drawing 740.Trunnion mount 720 is connected with two arm 710 respectively rotationally by rotating shaft 730.Arm wire drawing 740 730 fixing with at least one of which arm 710 is connected around the shaft.

The arm 710 that the mechanical arm 700 of this utility model embodiment can be connected with arm wire drawing 740 by pulling arm wire drawing 740 to make rotates, in the case, what the driving means pulling arm wire drawing 740 can be not limited to be arranged on two arm 710 is rotationally connected place, and be provided in outside mechanical arm 700, thus alleviate the deadweight of mechanical arm 700, simplify the structure of mechanical arm 700.

In present embodiment, arm 710 is in hollow and the structure of both ends open.

So, the deadweight of arm 710 can be alleviated, thus alleviate the deadweight of mechanical arm 700 further.

Specifically, in present embodiment, arm 710 is circular tube shaped.

In present embodiment, trunnion mount 720 is basic in cube-shaped.In other embodiments, trunnion mount 720 can be in rectangular-shaped suitable shape such as grade, and therefore, be not restricted in present embodiment is cube-shaped.

Further, in present embodiment, trunnion mount 720 is the structure of both ends open.So, the deadweight of trunnion mount 720 can be alleviated, thus alleviate the deadweight of mechanical arm 700 further.

It will be appreciated, of course, that trunnion mount 720 is not limited to the structure of embodiments discussed above, and other suitable structures can be used according to actual needs in other embodiments.

In present embodiment, rotating shaft 730 is basically perpendicular to the length direction (double-head arrow direction as shown at 13) of arm 710.

So, under the pulling force effect of arm wire drawing 740, arm 710 can swing around trunnion mount 720, thus realizes weave control.Such as, in the example depicted in fig. 14, two arm 710 are respectively last arm component 710a and lower arms component 710b, last arm component 710a and lower arms component 710b and are all rotationally connected trunnion mount 720.Arm wire drawing 740 is fixing connects last arm component 710a.Under the pulling force effect of arm wire drawing 740, arm wire drawing 740 drives last arm component 710a to rotate relative to trunnion mount 720.

In present embodiment, mechanical arm 700 also includes trunnion mount wire drawing 750 (see Figure 13).Trunnion mount wire drawing 750 730 fixing with trunnion mount 720 is connected around the shaft.

So, under the active force of trunnion mount wire drawing 750, trunnion mount 710 730 rotates around the shaft, thus drives trunnion mount 710 to rotate relative to arm 710, such as, in the example shown in Figure 21, rotate relative to lower arms component 710b.

Specifically, in present embodiment, rotating shaft 730 includes the first rotating shaft 731 and the second rotating shaft 732.First rotating shaft 731 is mutually perpendicular to the second rotating shaft 732.Arm wire drawing 740 is around the first rotating shaft 731.Trunnion mount wire drawing 750 is around the second rotating shaft 732.The axis of the first rotating shaft 731 and the axis of the second rotating shaft 732 are intersected in a bit.

So, when last arm component 710a rotates around trunnion mount 720 under the active force of arm wire drawing 740, do not interfere with lower arms component 710b, simultaneously, when trunnion mount 720 rotates relative to lower arms component 710b under the active force of trunnion mount wire drawing 750, do not interfere with last arm component 710a.First rotating shaft 731 and the second rotating shaft 732 are mutually perpendicular to it is thus possible to constitute gimbal suspension, so that the arm 710 of mechanical arm 700 rotates relative to trunnion mount 720, and the angle between two arm 710 can rotate relative to trunnion mount 20 along with two arm 710 and change.

Such as, last arm component 710a is rotated around trunnion mount 720 by the first rotating shaft 731, and lower arms component 710b is rotated around trunnion mount 720 by the second rotating shaft 732, and then achieves the variable angle between two arm 10.

Arm 710a is in location A in fig. 14, upper, and now, the axis of last arm component 710a and the axis of lower arms component 710b are substantially on same axis, and the angle between two arm 710 is close to 180 degree.When last arm component 710a rotates, can be fixed by lower arms component 710b, when last arm component 710a is by the active force of arm wire drawing 740, last arm component 710a is rotated around trunnion mount 720 by the first rotating shaft 731.Rotating result as shown in figure 15, under the active force of arm wire drawing 740, last arm component 710a carries out turning to B location around trunnion mount 720.Now, the axis of last arm component 710a is substantially vertical with the axis of lower arms component 710b, angle between two arm 710 is close to 90 degree, certainly, can enter to pull arm wire drawing 740 to make the angle between two arm 710 between 100～120 degree.

Being appreciated that in other embodiments, under the active force of arm wire drawing 740, the angle between last arm component 710a and lower arms component 710b can rotate around trunnion mount 720 along with last arm component 710a and change.Accordingly, it would be desirable to explanation, this example is merely illustrative two arm 710 and can carry out rotating and the most unaffected rotating around trunnion mount 720, and cannot function as the restriction to this utility model embodiment.

In present embodiment, one end of arm 710 is extended with rotating shaft support frame 711 along the length direction of arm 710.

Specifically, referring to Figure 16 and Figure 17, in the example shown in the series of figures, one end of last arm component 710a is extended with rotating shaft support frame 711a along the length direction of last arm component 710a.Rotating shaft support frame 711a offers the first axis hole 7111a.Trunnion mount 720 offers the second axis hole 721a.First rotating shaft 731 rotates and wears the first axis hole 7111a and the second axis hole 721a.

Specifically, referring to Figure 21 and Figure 23, in the example shown in the series of figures, one end of lower arms component 710b is extended with rotating shaft support frame 711b along the length direction of lower arms component 710b.Rotating shaft support frame 711b offers Triaxial hole 7111b.Trunnion mount 720 offers the 4th axis hole 721b.Second rotating shaft 732 wears Triaxial hole 7111b and the 4th axis hole 721b rotationally.

So, rotation connection structure is simple, convenient design and manufacture.

In present embodiment, the first rotating shaft 731 and the second rotating shaft 732 can be straight pins.

Certainly, in other embodiments, the rotation connection structure between arm 710 and trunnion mount 720 can be not limited to the structure of embodiments discussed above, can change depending on real needs.

In present embodiment, rotating shaft support frame 711 includes spaced two bracing frames 712.First axis hole 7111 is opened on bracing frame 712.Trunnion mount 720 is between two bracing frames 712.

So, being formed with receiving space between two bracing frames 712 of rotating shaft support frame 711, trunnion mount 720 is contained between two bracing frames 712 in the receiving space formed, compact conformation.Meanwhile, described receiving space can arrange other elements or other design structures, therefore improves the design freedom of the joint of mechanical arm 700.

In the example shown in Figure 16, the rotating shaft support frame 711a of last arm component 710a includes spaced two bracing frame 712a.First axis hole 7111a is opened on bracing frame 712a.Trunnion mount 720 is between two bracing frame 712a.

In present embodiment, the quantity of arm wire drawing 740 is two, and wherein every arm wire drawing 740 can individually pull arm 710 to swing around trunnion mount 720.

Such as, in the example shown in Figure 19, the quantity of the arm wire drawing 740 being connected with last arm component 710a is two, and wherein every arm wire drawing 740 can individually pull last arm component 710a to swing around trunnion mount 720.

In present embodiment, one end of arm wire drawing 740 is fixed on bracing frame 712.

So, under the active force of arm wire drawing 740, arm 710 is owing to being rotated around trunnion mount 720 by rotating shaft 730 by acting on the active force on bracing frame 712.

Such as, in the example shown in Figure 19, one end of arm wire drawing 740 is fixed on bracing frame 712a.Under the active force of arm wire drawing 740, last arm component 710a is owing to being rotated around trunnion mount 720 by the first rotating shaft 731 by acting on the active force on bracing frame 712a.

In present embodiment, bracing frame 712 includes the first bracing frame surface 7121 towards trunnion mount 720.The first wire drawing disk 7122 it is provided with on first bracing frame surface 7121.Arm wire drawing 740 is wound on the first wire drawing disk 7122.

So, arm wire drawing 740 is arranged around the first wire drawing disk 7122, facilitates the fixing of arm wire drawing 740.

Such as, in the example shown in Figure 16, the bracing frame 712a of last arm component 710a includes the first bracing frame surface 7121a towards trunnion mount 720.It is provided with the first wire drawing disk 7122 on first bracing frame surface 7121a.Arm wire drawing 740 is wound on the first wire drawing disk 7122.

Specifically, the first wire drawing disk 7122 on the first bracing frame surface 7121a upwards inside arm 710a projection and formed.First wire drawing disk 7122 is coaxially disposed with the first rotating shaft 731.

In present embodiment, the size of the first wire drawing disk 7122 is more than the size of the first rotating shaft 731.

So, the first wire drawing disk 7122 can increase arm wire drawing 740 and pulls the rotation arm of force of last arm component 710a to make arm wire drawing 740 pull last arm component 710a more laborsaving.It is thus possible to use the driving means of smaller power to pull wire drawing.

In present embodiment, the first axis hole 7111 axially penetrates through the first wire drawing disk 7122 along the first wire drawing disk 7122.

So, it is ensured that the first wire drawing disk 7122 is coaxially disposed with the first rotating shaft 731, and make arm wire drawing 740 around the first wire drawing disk 7122 can effective constitution more labour-saving rotate the arm of force.

Such as, in the example shown in Figure 16, the first axis hole 7111a of last arm component 710a axially penetrates through the first wire drawing disk 7122 along the first wire drawing disk 7122.

In present embodiment, the size of the first wire drawing disk 7122 on the first bracing frame surface 7121a of last arm component 710a can be configured as the case may be.

In present embodiment, bracing frame 712 includes the second bracing frame surface 7123 opposing with the first bracing frame surface 7121.Bracing frame 712 offers and runs through the first bracing frame surface 7121 and first fixing hole 7124 on the second bracing frame surface 7123.Arm wire drawing 740 includes connecting end 741 and pulling end 742 (see Figure 18).Connect end 741 and be formed with plush copper 741a.Pull end 742 from the second side, bracing frame surface 7123 through after the first fixing hole 7124 around the first wire drawing disk 7122 pull until plush copper 741a that connects end 741 be fastened on the first fixing hole 7124 in thus arm wire drawing 740 is fixed on bracing frame 712.

So, arm wire drawing 740 pull end 742 from the second side, bracing frame surface 7123 through pulling around the first wire drawing disk 7122 after the first fixing hole 7124 until plush copper 741a connecting end 741 is fastened on the first fixing hole 7124 and can arm wire drawing 740 be fixed on bracing frame 712.

In present embodiment, the quantity of arm wire drawing 740 is two, and two arm wire drawings 740 are separately positioned on two the first bracing frame surfaces 7121 of arm 710, and around on the contrary, so, arm 710 can be pulled to rotate along two rightabouts.

Can pull, in conjunction with every arm wire drawing 740, the structure that arm 710 rotates, the angle that two arm 710 can mutually rotate can be obtained.Such as, an arm wire drawing 740 can pull arm 710 to rotate 90 degree, and another root arm wire drawing 740 can pull arm 710 to rotate-90 degree, thus two arm wire drawings 740 can pull arm 710 to rotate rotation between-90 degree are to 90 degree.

Be appreciated that two arm wire drawings 740 around to the mutual slewing area that can expand arm 710 on the contrary.

Certainly, specifically arranging of arm wire drawing 740 can be not limited to embodiments discussed above, and can regard demand in other embodiments and arrange.

Specifically, referring to Figure 19 and Figure 20, in diagrammatically shown example, bracing frame 712a includes the second bracing frame surface 7123a opposing with the first bracing frame surface 7121a (see Figure 16).Arm wire drawing 740 pull end 742 from the second 7123a side, bracing frame surface through after the first fixing hole 7124a around the first wire drawing disk 7122 pull until plush copper 741a that connects end 741 be fastened on the first fixing hole 7124a in thus arm wire drawing 740 is fixed on the bracing frame 712 of last arm component 710a.

So, under the active force of arm wire drawing 740, last arm component 710a is rotated around trunnion mount 720 by the first rotating shaft 731.

Such as, when initial position, last arm component 710a is in location of C；When last arm component 710a is by the active force of arm wire drawing 40, last arm component 710a turns to D position around trunnion mount 720 from location of C by the first rotating shaft 731.

In present embodiment, arm 710 is the structure of hollow and both ends open.Arm wire drawing 740 wears arm 710.End 742 is pulled to make a stretch of the arm component 710.

So, arm wire drawing 740, along the internal component 710 that makes a stretch of the arm of arm 710, is beneficial to protection arm wire drawing 740, and structure is attractive in appearance compact.

In present embodiment, the end 742 that pulls of arm wire drawing 740 can be stretched out by arm 710.So, arm 710 end 742 that pulls of the arm wire drawing 740 stretched out can directly be connected with driving means.

In present embodiment, mechanical arm 700 includes the steering bearing 760 (see Figure 20) being rotatably arranged in trunnion mount 720.Arm wire drawing 740 pulls direction by what steering bearing 760 changed arm wire drawing 740.

So, it is possible to be configured arm wire drawing 740 as the case may be pulls direction, it is simple to the driving of mechanical arm 700, and improve the stability that mechanical arm 700 runs, make compact appearance attractive in appearance simultaneously.

Such as, in the example depicted in fig. 14, fix the arm wire drawing 740 that is connected with last arm component 710a and pull direction by what steering bearing 760 changed arm wire drawing 740.

In present embodiment, trunnion mount 720 is formed with groove 725 (see Figure 17).Steering bearing 760 is rotatablely arranged in groove 725.

So, the more compact structure of mechanical arm 700 and more stable can be made.

In present embodiment, the structure of trunnion mount wire drawing 750 is essentially identical with the structure of arm wire drawing 740.Trunnion mount wire drawing 750 and arm wire drawing 740 can be flexible stainless steel silk or the satisfactory wire drawing of intensity of other materials.

In present embodiment, trunnion mount 720 is driven by trunnion mount wire drawing 750.Trunnion mount 720 is rotatably coupled with arm 710 around the second rotating shaft 732 by trunnion mount wire drawing 750.Such as, trunnion mount 720 is rotatably coupled with lower arms component 710b around the second rotating shaft 732 by trunnion mount wire drawing 750.

In present embodiment, trunnion mount 720 includes the first trunnion mount surface 722 towards arm 710.The second wire drawing disk 7122b (see Figure 17) it is provided with on first trunnion mount surface 722.Trunnion mount wire drawing 750 is wound on the second wire drawing disk 7122b.

So, trunnion mount wire drawing 750 is arranged around the second wire drawing disk 7122b, facilitates the fixing of trunnion mount wire drawing 750.

In present embodiment, the second wire drawing disk 7122b on the first trunnion mount surface 722 outside trunnion mount 720 projection and formed.Second wire drawing disk 7122b and the second rotating shaft 732 are coaxially disposed.

So, trunnion mount wire drawing 750 is i.e. to arrange around the second rotating shaft 732 around the second wire drawing disk 7122b, is beneficial to drive.

In present embodiment, the size of the second wire drawing disk 7122b is more than the size of the second rotating shaft 732.

So, the second wire drawing disk 7122b can increase trunnion mount wire drawing 50 and pulls the rotation arm of force of trunnion mount 720 to make trunnion mount wire drawing 750 pull trunnion mount 720 more laborsaving.It is thus possible to use the driving means of smaller power to pull trunnion mount wire drawing 750.Such as, in the example shown in Figure 21, the second wire drawing disk 7122b can increase trunnion mount wire drawing 750 and pull the rotation arm of force of trunnion mount 720 more laborsaving when making trunnion mount wire drawing 750 pull trunnion mount 720.

In present embodiment, trunnion mount 720 includes the second trunnion mount surface 723 (see Figure 21) opposing with the first trunnion mount surface 722.Trunnion mount 720 offers the second fixing hole 724 (see Figure 21) running through the first trunnion mount surface 722 and the second trunnion mount surface 723.Trunnion mount wire drawing 750 includes connecting end 751 and pulling end 752 (see Figure 22).Connect end 751 and be formed with plush copper 751a.Pull end 752 from the second side, trunnion mount surface 723 of trunnion mount 720 through after the second fixing hole 724 around the second wire drawing disk 7122b pull until plush copper 751a that connects end 751 be fastened on the second fixing hole 724 in thus trunnion mount wire drawing 750 is fixed on trunnion mount 720.

So, trunnion mount wire drawing 750 pull end 752 from the second side, trunnion mount surface 723 through pulling around the second wire drawing disk 7122b after the second fixing hole 724 until plush copper 751a connecting end 751 is fastened on the second fixing hole 724 and can trunnion mount wire drawing 750 be fixed on trunnion mount 720.

In present embodiment, rotating shaft support frame 711b offers perforation 713 (see Figure 23).Trunnion mount wire drawing 750 wears perforation 713 and stretches out lower arms component 710b.Second rotating shaft 732 wears rotating shaft support frame 711b rotationally.

So, lower arms component 710b is connected by the second rotating shaft 732 rotationally with trunnion mount 720, and trunnion mount wire drawing 750 stretches out lower arms component 710b inside lower arms component 710b, is beneficial to protection trunnion mount wire drawing 50, and structure is attractive in appearance compact.

In present embodiment, the 4th axis hole 721b axially penetrates through the second wire drawing disk 7122b along the second wire drawing disk 7122b.

So, it is ensured that the second wire drawing disk 7122b and the second rotating shaft 732 are coaxially disposed, and make trunnion mount wire drawing 750 around the second wire drawing disk 7122b can effective constitution more labour-saving rotate the arm of force.

Referring to Figure 24, and combine Fig. 1, Fig. 9 and Figure 13, the mechanical arm 200 of present embodiment includes mechanical arm 100, mechanical arm 100a and mechanical arm 700.In diagrammatically shown example, the quantity of mechanical arm 100 is two, and two mechanical arms 100 are connected with each other.The quantity of mechanical arm 100a is two.One of them mechanical arm 100 is rotationally connected one of them mechanical arm 100a, and another one mechanical arm 100 is rotationally connected another mechanical arm 100a, and this another mechanical arm 100a is rotationally connected mechanical arm 700.In diagrammatically shown example, mechanical arm 200 can be gimbal suspension six axis robot arm.

From mechanical arm 200 end to front end, the swinging joint 202 be disposed with the cradle head 201 formed by one of them mechanical arm 100a, being formed by one of them mechanical arm 100, another one mechanical arm 100 swinging joint 203 formed, another one mechanical arm the 100a cradle head 204 formed, the universal swing joint 205 that formed by mechanical arm 700.Further, all of joint all uses wire drawing 206 to drive.Such as, wire drawing 206 can include wire drawing 30,30a, arm wire drawing 740 and trunnion mount wire drawing 750.

In the mechanical arm 200 of present embodiment, pull driving means 210a of wire drawing 206 can be arranged on outside mechanical arm 200, thus alleviate the deadweight of mechanical arm 200, simplify the structure of mechanical arm 200.

In present embodiment, outside wire drawing 206, it is cased with bourdon tube 220.One end of wire drawing 206 is fixed on mechanical arm 200, and its other end is connected through the interior cavity formed of mechanical arm 200 with driving means 210a.

So, simple in construction, and alleviate the deadweight of mechanical arm 200, improve load efficiency.

Specifically, mechanical arm 200 includes trunnion mount 207a and multiple arm.Multiple arm include first-hand arm member 200a, second-hand arm member 200b, the 3rd arm 200c and the 4th arm 200d.Second-hand arm member 200b is connected with first-hand arm member 200a rotationally by the first rotating shaft 207.First rotating shaft 207 is perpendicular to first-hand arm member 200a and the length direction of second-hand arm member 200b.

3rd arm 200c is connected with second-hand arm member 200b rotationally by the second rotating shaft (can be in conjunction with Figure 12), and the second shaft parallel is in second-hand arm member 200b and the length direction of the 3rd arm 200c.

Trunnion mount 207a is rotationally connected the 3rd arm 200c and the 4th arm 200d.

Wire drawing 206 is fixing with at least one arm in first-hand arm member 200a, second-hand arm member 200b, the 3rd arm 200c and the 4th arm wire drawing 200d to be connected.Specifically, in some embodiments, such as, wire drawing 206 can include wire drawing 30, wire drawing 30a, arm wire drawing 740 and trunnion mount wire drawing 750, and wire drawing 30 (can be regarded as the first arm wire drawing) is fixing with second-hand arm member 200b to be connected to drive second-hand arm member 200b to rotate around the first rotating shaft 207.

Wire drawing 30a (can be regarded as the second arm wire drawing) and the 3rd arm 200c is fixing to be connected to drive the 3rd arm 200c around the second axis of rotation.

Trunnion mount wire drawing 750 is fixing with trunnion mount 207a to be connected to drive trunnion mount 207a to rotate around the 3rd rotating shaft 208.

Arm wire drawing 740 (can be regarded as the 3rd arm wire drawing) is fixing with the 4th arm 200d to be connected to drive the 4th arm 200d to rotate around the 4th rotating shaft 209.

In present embodiment, the connected mode of the first rotating shaft 207 and first-hand arm member 200a and the concrete structure of second-hand arm member 200b and three can join the explanation of the mechanical arm 100 of embodiment of above, second rotating shaft and the concrete structure of the 3rd arm 200c and both connected modes can join the explanation of the mechanical arm 100a of embodiment of above, 3rd rotating shaft 208 and the 3rd arm 200c and the concrete structure of trunnion mount 207a and the connected mode of three, and the 4th the connected mode of rotating shaft 209 and the 4th arm 200d and the concrete structure of trunnion mount 207a and three can join the explanation of mechanical arm 700 of embodiment of above, at this, no longer describe in detail.It is to say, the above-mentioned explanation to the embodiment of mechanical arm 100,100a and 700 is also adapted to the mechanical arm 200 of present embodiment.

In present embodiment, second-hand arm member 200b is connected by the first rotating shaft 207 rotationally with first-hand arm member 200a and forms swinging joint.3rd arm 200c is connected by the second rotating shaft rotationally with second-hand arm member 200b and forms cradle head.

In present embodiment, trunnion mount 207a is rotationally connected the 3rd arm 200c by the 3rd rotating shaft 208, and is rotationally connected the 4th arm 200d formation universal swing joint by the 4th rotating shaft 209.

In description of the present utility model, it will be appreciated that, term " " center ", " longitudinally ", " laterally ", " length ", " width ", " thickness ", on " ", D score, " front ", " afterwards ", " left ", " right ", " vertically ", " level ", " push up ", " end " " interior ", " outward ", " clockwise ", " counterclockwise ", " axially ", " radially ", orientation or the position relationship of the instruction such as " circumferential " are based on orientation shown in the drawings or position relationship, it is for only for ease of description this utility model and simplifies description, rather than indicate or imply that the device of indication or element must have specific orientation, with specific azimuth configuration and operation, therefore it is not intended that to restriction of the present utility model.

Additionally, term " first ", " second " are only used for describing purpose, and it is not intended that instruction or hint relative importance or the implicit quantity indicating indicated technical characteristic.Thus, define " first ", the feature of " second " can express or implicitly include one or more this feature.In description of the present utility model, " multiple " are meant that two or more, unless otherwise expressly limited specifically.

In this utility model, unless otherwise clearly defined and limited, term " is installed ", " being connected ", " connection ", the term such as " fixing " should be interpreted broadly, and connects for example, it may be fixing, it is also possible to be to removably connect, or integral；Can be to be mechanically connected, it is also possible to be electrical connection；Can be to be joined directly together, it is also possible to be indirectly connected to by intermediary, can be connection or the interaction relationship of two elements of two element internals.For the ordinary skill in the art, above-mentioned term concrete meaning in this utility model can be understood as the case may be.

In this utility model, unless otherwise clearly defined and limited, fisrt feature second feature " on " or D score can be that the first and second features directly contact, or the first and second features are by intermediary mediate contact.And, fisrt feature second feature " on ", " top " and " above " but fisrt feature directly over second feature or oblique upper, or be merely representative of fisrt feature level height higher than second feature.Fisrt feature second feature " under ", " lower section " and " below " can be fisrt feature immediately below second feature or obliquely downward, or be merely representative of fisrt feature level height less than second feature.

In the description of this specification, the description of reference term " embodiment ", " some embodiments ", " example ", " concrete example " or " some examples " etc. means that the specific features, structure, material or the feature that combine this embodiment or example description are contained at least one embodiment of the present utility model or example.In this manual, the schematic representation of above-mentioned term is necessarily directed to identical embodiment or example.And, the specific features of description, structure, material or feature can be to combine in one or more embodiments in office or example in an appropriate manner.Additionally, in the case of the most conflicting, the feature of the different embodiments described in this specification or example and different embodiment or example can be combined and combine by those skilled in the art.

Although above it has been shown and described that embodiment of the present utility model, it is understandable that, above-described embodiment is exemplary, it is not intended that to restriction of the present utility model, above-described embodiment can be changed in the range of this utility model, revises, replace and modification by those of ordinary skill in the art.

Claims

1. a mechanical arm, it is characterised in that including:

First-hand arm member；

Second-hand's arm member, described second-hand's arm member is connected with described first-hand arm member rotationally by the first rotating shaft, and described first rotating shaft is perpendicular to described first-hand arm member and the length direction of described second-hand's arm member；

3rd arm, described 3rd arm is connected with described second-hand's arm member rotationally by the second rotating shaft, and described second shaft parallel is in described second-hand's arm member and the length direction of described 3rd arm；

Trunnion mount；

4th arm, described trunnion mount is rotationally connected described 3rd arm and described 4th arm；

Wire drawing, described wire drawing is fixing with at least one arm in described first-hand arm member, described second-hand's arm member, described 3rd arm and the 4th arm to be connected.

2. mechanical arm as claimed in claim 1, it is characterized in that, each arm in described first-hand arm member and described second-hand's arm member is extended with arm connector along the length direction of described arm, described arm connector is formed with axis hole, and described first axis of rotation wears described axis hole thus described first-hand arm member and described second-hand's arm member is rotationally connected.

3. mechanical arm as claimed in claim 2, it is characterized in that, described arm connector includes two rotating shaft support frames of spaced and parallel setting, described axis hole is opened on said two rotating shaft support frame, and the said two rotating shaft support frame of one of them described arm is arranged between the said two rotating shaft support frame of another described arm.

4. mechanical arm as claimed in claim 3, it is characterized in that, described rotating shaft support frame includes first surface and the second surface opposing with described first surface, described arm connector includes along described first surface to the wire drawing disk extended away from described second surface direction, described wire drawing disk axially the most coaxial with described first rotating shaft, the size of described wire drawing disk is more than the size of described first rotating shaft, described wire drawing includes the first arm wire drawing, and described first arm wire drawing is around described wire drawing disk and fixing with described rotating shaft support frame is connected.

5. mechanical arm as claimed in claim 1, it is characterized in that, described second rotating shaft is fixed on one end of described 3rd arm, described second rotating shaft includes first surface and the second surface opposing with described first surface, and described second rotating shaft offers and runs through described first surface and the perforation of described second surface；

6. mechanical arm as claimed in claim 5, it is characterised in that described mechanical arm includes steering bearing, described second arm wire drawing pulls direction by the described second arm wire drawing of change of described steering bearing.

7. mechanical arm as claimed in claim 1, it is characterised in that described wire drawing includes the 3rd arm wire drawing and trunnion mount wire drawing, described 3rd arm wire drawing is fixing with described 4th arm to be connected, and described trunnion mount wire drawing is fixing with described trunnion mount to be connected.

8. mechanical arm as claimed in claim 7, it is characterised in that described trunnion mount is rotationally connected with described 3rd arm by the 3rd rotating shaft, and is rotationally connected with described 4th arm by the 4th rotating shaft；

9. mechanical arm as claimed in claim 8, it is characterized in that, one end of described 4th arm is extended with rotating shaft support frame along the length direction of described 4th arm, described rotating shaft support frame offers the first axis hole, described trunnion mount offers the second axis hole, wear described first axis hole and described second axis hole described 4th axis of rotation, described rotating shaft support frame includes spaced two bracing frames, described first axis hole is opened on support frame as described above, and described trunnion mount is between said two bracing frame.

10. mechanical arm as claimed in claim 9, it is characterized in that, support frame as described above includes the first bracing frame surface towards described trunnion mount, it is provided with wire drawing disk on described first bracing frame surface, described 3rd arm wire drawing is wound on described wire drawing disk, described wire drawing disk is coaxially disposed with described 4th rotating shaft, and the size of described wire drawing disk is more than the size of described 4th rotating shaft.

11. mechanical arms as claimed in claim 8, it is characterized in that, one end away from described 3rd arm of described second-hand's arm member is extended with rotating shaft support frame along the length direction of described 3rd arm, described rotating shaft support frame offers Triaxial hole, described trunnion mount offers the 4th axis hole, wears described Triaxial hole and described 4th axis hole described 3rd axis of rotation.

12. mechanical arms as claimed in claim 11, it is characterized in that, described trunnion mount includes the first trunnion mount surface towards described 3rd arm, it is provided with wire drawing disk on described first trunnion mount surface, described trunnion mount wire drawing is wound on described wire drawing disk, described wire drawing disk is coaxially disposed with described 3rd rotating shaft, and the size of described wire drawing disk is more than the size of described 3rd rotating shaft.