CN214981178U - Correcting device for mechanical arm joint - Google Patents

Abstract

The utility model discloses a mechanical arm joint's orthotic devices belongs to mechanical arm joint technical field. The correcting device comprises a driving motor, a central supporting piece and a limiting mechanism; firstly, positioning a joint main body through a sleeving relation between a central support piece and the joint main body of the mechanical arm joint, and ensuring that the joint main body and the central support piece are coaxially assembled; the limiting mechanism is used for limiting the joint main body of the mechanical arm joint in the horizontal direction and limiting the rotation; then connecting the high-speed shaft of the mechanical arm joint with a motor shaft; then under the drive of motor shaft, the high-speed shaft can be constantly corrected radial circle beat under high-speed pivoted operating mode, maintains a period of time after, and the high-speed shaft alright keep a stable high quality assembly position, carries out the assembly between high-speed shaft and the joint main part this moment again, just can improve follow-up arm operation's precision and stability.

Description

Correcting device for mechanical arm joint

Technical Field

The utility model relates to a mechanical arm joint technical field especially relates to a mechanical arm joint's orthotic devices.

Background

Today, the degree of industrial automation is increasing continuously, various mechanical arms can simulate certain motion functions of human hands and arms, and are applied to grabbing, carrying objects or operating tools to replace people to perform heavy work or repetitive work. The arm bodies of the mechanical arms transmit actions through mechanical arm joints.

The flexible and accurate operation of the mechanical arm is closely related to the structure of the mechanical arm joint; the limitation of manufacturing level and assembly precision, the input shaft of current arm joint often has great radial circle to beat, and the input shaft is the high-speed axle, if can not effectively correct this high-speed axle's radial circle beat, can lead to carrying out high-quality assembly between high-speed axle and the arm joint main part, and the operation precision and the stability of arm deteriorate, still influence the normal use of arm seriously.

SUMMERY OF THE UTILITY MODEL

An object of the utility model is to provide a mechanical arm joint's orthotic devices can beat the radius circle of high-speed axle and correct, realizes the high quality assembly between the high-speed axle of mechanical arm joint and the joint main part as far as possible, improves mechanical arm operation precision and stability.

In order to realize the purpose, the following technical scheme is provided:

an orthotic device for a robotic arm joint, comprising:

the driving motor comprises a motor main body and a motor shaft vertically extending out of the motor main body;

the central supporting piece is of a hollow cylindrical structure; the central support piece is connected with the motor main body, and the motor shaft coaxially penetrates through the central support piece; the joint main body of the mechanical arm joint can be coaxially sleeved on the periphery of the central supporting piece, and the motor shaft is used for being connected with a high-speed shaft of the mechanical arm joint;

and the limiting mechanism is used for limiting the movement of the joint main body in the horizontal direction and limiting the rotation of the joint main body on the central support piece.

Optionally, the correcting device further comprises a guide shaft, the motor shaft is a hollow shaft, and the guide shaft is coaxially arranged in the hollow shaft to guide the mechanical arm joint to move in the vertical direction.

Optionally, a bearing arrangement is provided between the motor shaft and the central support.

Optionally, the limiting mechanism includes a fixing member and a pressing mechanism arranged at intervals along the horizontal direction, and the pressing mechanism is used for pressing the joint main body onto the fixing member along the horizontal direction.

Optionally, a clamping portion is arranged on the fixing piece and used for being matched with the joint main body in a clamping mode.

Optionally, the correcting device further comprises a base, wherein the base comprises a bottom plate and a support plate arranged above the bottom plate at intervals; the fixing piece and the pressing mechanism are arranged above the supporting plate at intervals; the motor main body penetrates through the supporting plate from bottom to top and then slides in the horizontal direction and is arranged on the supporting plate.

Optionally, the pressing mechanism comprises:

the mounting rack is arranged on the supporting plate;

the pressing piece is arranged on the mounting frame in a sliding mode along the horizontal direction;

the driving piece is arranged on the mounting frame, and the driving end of the driving piece is connected with the pressing piece so as to drive the pressing piece to abut against the joint main body.

Optionally, the pressing member includes a pressing bracket and a pressing block disposed on the pressing bracket, the pressing bracket is slidably disposed on the mounting bracket, and the driving end of the driving member is connected to the pressing bracket; the briquetting be used for with joint main part offsets, just the briquetting with one side of joint main part butt is with the curved surface shape of the outer peripheral wall laminating of joint main part.

Optionally, the pressing support is an L-shaped plate, the pressing block is arranged on one side plate of the L-shaped plate, and the other side plate of the L-shaped plate is in sliding fit with the mounting rack.

Optionally, a first guide rail extending along the horizontal direction is arranged on the support plate, and the motor body is slidably arranged on the first guide rail; the mounting bracket is provided with a second guide rail extending in the horizontal direction, and the pressing piece is arranged on the second guide rail in a sliding manner.

Compared with the prior art, the beneficial effects of the utility model are that:

positioning the joint main body through the sleeving relation between the central support piece and the joint main body of the mechanical arm joint, ensuring that the joint main body and the central support piece are coaxially assembled, and then connecting a high-speed shaft of the mechanical arm joint with a motor shaft; the limiting mechanism is used for limiting the joint main body of the mechanical arm joint in the horizontal direction and limiting the joint main body to rotate on the central support piece, so that the position of the joint main body is kept stable and does not move, and the action of a driving motor is not influenced; because the motor shaft of the driving motor and the central supporting piece can be always coaxial, namely the motor shaft and the joint main body can be coaxial, the high-speed shaft can continuously correct radial circular runout under the working condition of high-speed rotation under the driving of the motor shaft, and can be stably kept at a stable assembly position after being maintained for a period of time, and then the high-speed shaft and the joint main body are assembled, so that the high-quality assembly of the high-speed shaft and the joint main body is realized as far as possible, and the running precision and the running stability of a subsequent mechanical arm are improved.

Drawings

Fig. 1 is an assembly schematic view of a robot joint straightening device and a robot joint according to an embodiment of the present invention;

FIG. 2 is a schematic cross-sectional view of FIG. 1;

fig. 3 is a schematic structural view of an apparatus for correcting a joint of a robot arm according to an embodiment of the present invention.

Reference numerals:

100. a mechanical arm joint; 101. a joint main body;

10. a drive motor; 11. a motor main body; 111. a first convex edge; 12. a motor shaft;

20. a central support; 21. a second convex edge;

30. a limiting mechanism; 31. a fixing member; 311. a first mounting bracket; 312. clamping the boss; 32. a hold-down mechanism; 321. a second mounting bracket; 3211. a second guide rail; 322. a compression member; 3221. compressing the bracket; 3222. briquetting; 323. a drive member; 3231. driving the wrench; 3232. a connecting rod assembly; 3233. a slide bar; 324. a mounting seat;

40. a base; 41. a base plate; 411. a handle; 42. a support plate; 421. a first guide rail;

50. a bearing structure; 60. an adapter plate; 70. a guide shaft; 80. and a controller.

Detailed Description

In order to make the objects, technical solutions and advantages of the embodiments of the present invention clearer, the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present invention, and it is obvious that the described embodiments are some, but not all, embodiments of the present invention. The components of embodiments of the present invention, as generally described and illustrated in the figures herein, may be arranged and designed in a wide variety of different configurations.

Thus, the following detailed description of the embodiments of the present invention, presented in the accompanying drawings, is not intended to limit the scope of the invention, as claimed, but is merely representative of selected embodiments of the invention. Based on the embodiments in the present invention, all other embodiments obtained by a person skilled in the art without creative efforts belong to the protection scope of the present invention.

It should be noted that: like reference numbers and letters refer to like items in the following figures, and thus, once an item is defined in one figure, it need not be further defined and explained in subsequent figures.

In the description of the present invention, it should be noted that the terms "upper", "lower", "left", "right", "vertical", "horizontal", "inner", "outer", etc. indicate the position or positional relationship based on the position or positional relationship shown in the drawings, or the position or positional relationship which is usually placed when the product of the present invention is used, and are only for convenience of description of the present invention and simplification of description, but do not indicate or imply that the device or element referred to must have a specific position, be constructed and operated in a specific orientation, and thus, should not be construed as limiting the present invention. Furthermore, the terms "first," "second," "third," and the like are used solely to distinguish one from another and are not to be construed as indicating or implying relative importance. In the description of the present invention, "a plurality" means two or more unless otherwise specified.

In the description of the present invention, it should also be noted that, unless otherwise explicitly specified or limited, the terms "disposed" and "connected" are to be interpreted broadly, and may be, for example, fixedly connected, detachably connected, or integrally connected; either mechanically or electrically. The specific meaning of the above terms in the present invention can be understood in specific cases to those skilled in the art.

In the present disclosure, unless expressly stated or limited otherwise, the first feature "on" or "under" the second feature may comprise direct contact between the first and second features, or may comprise contact between the first and second features not directly. Also, the first feature being "on," "above" and "over" the second feature includes the first feature being directly on and obliquely above the second feature, or merely indicating that the first feature is at a higher level than the second feature. A first feature being "under," "below," and "beneath" a second feature includes the first feature being directly under and obliquely below the second feature, or simply meaning that the first feature is at a lesser elevation than the second feature.

Reference will now be made in detail to embodiments of the present invention, examples of which are illustrated in the accompanying drawings, wherein like reference numerals refer to the same or similar elements or elements having the same or similar function throughout. The embodiments described below with reference to the drawings are exemplary only for the purpose of explaining the present invention, and should not be construed as limiting the present invention.

The present embodiment provides a correction device for a robot arm joint, which is mainly used for correcting an assembly position between a high-speed shaft and a joint main body 101 when the high-speed shaft of the robot arm joint 100 has a large radial run-out, so as to improve the operation accuracy and stability of the subsequent robot arm joint 100 as much as possible. As shown in fig. 1, the correction device of the mechanical arm joint 100 specifically includes a driving motor 10, a central support member 20, and a limiting mechanism 30. As shown in fig. 2, the driving motor 10 includes a motor main body 11 and a motor shaft 12 vertically protruding from the motor main body 11. The central support 20 is a hollow cylindrical structure; the central support member 20 is connected with the motor body 11, and the motor shaft 12 is coaxially arranged in the central support member 20 in a penetrating way; the joint body 101 of the robot joint 100 can be coaxially sleeved on the periphery of the central support 20, and the motor shaft 12 is used for connecting with the high-speed shaft of the robot joint 100. The stopper mechanism 30 is used to limit the movement of the joint body 101 in the horizontal direction and the rotation of the joint body on the center support 20. In specific implementation, the joint main body 101 is positioned through the sleeving relation between the central support part 20 and the joint main body 101 of the mechanical arm joint 100, so that the joint main body 101 and the central support part 20 are coaxially assembled, and then the high-speed shaft of the mechanical arm joint 100 is connected with the motor shaft 12; the limiting mechanism 30 is used for limiting the joint main body 101 of the mechanical arm joint 100 in the horizontal direction and limiting the rotation of the joint main body on the central support member 20, so that the position of the joint main body 101 is kept stable and does not move, and the action of the driving motor 10 is not influenced; because the motor shaft 12 of the driving motor 10 and the central supporting member 20 are always coaxial, that is, the motor shaft 12 and the joint main body 101 can be coaxial, the high-speed shaft can continuously correct radial circular runout under the working condition of high-speed rotation under the driving of the motor shaft 12, after the high-speed shaft is maintained for a period of time, the high-speed shaft can be maintained at a stable assembly position, and then the high-speed shaft and the joint main body 101 are assembled, so that the high-quality assembly of the high-speed shaft and the joint main body is realized as far as possible, and the running precision and the running stability of a subsequent mechanical arm are improved.

Further, referring to fig. 2 and 3, the straightening device further includes a guide shaft 70, the motor shaft 12 is a hollow shaft, and the guide shaft 70 is coaxially disposed in the hollow shaft to achieve the guide of the mechanical arm joint 100 moving in the vertical direction. In operation, the high-speed shaft of the robotic arm joint 100 is also hollow to facilitate connection to the arm body. Therefore, when the mechanical arm joint 100 is placed into the correcting device, the guide shaft 70 is arranged in the high-speed shaft of the mechanical arm joint 100 in a penetrating mode, the guide of the mechanical arm joint 100 along the vertical direction can be achieved, the coaxial sleeving of the joint main body 101 of the mechanical arm joint 100 and the central support piece 20 is achieved rapidly and accurately, and after the sleeving of the joint main body 101 is completed, the guide shaft 70 can be drawn out, so that the guide shaft 70 is prevented from interfering with the subsequent rotation correcting operation of the high-speed shaft.

With continued reference to fig. 2, a bearing structure 50 is disposed between the motor shaft 12 and the center support 20. In specific implementation, the central support member 20 is fixedly connected to the outer shell of the motor body 11, and since the central support member 20 is hollow and the motor shaft 12 is inserted into the central support member 20, the bearing structure 50 is disposed between the motor shaft 12 and the central support member 20, i.e., the rotation of the motor shaft 12 is not interfered, and the coaxiality of the motor shaft 12 and the central support member 20 is ensured.

Further specifically, referring to fig. 1, the limiting mechanism 30 includes fixing pieces 31 and a pressing mechanism 32 arranged at intervals in the horizontal direction, and the pressing mechanism 32 is used for pressing the joint main body 101 on the fixing pieces 31 in the horizontal direction; after the compression, under the effect of the compression force, the joint main body 101 cannot move in the horizontal direction, and meanwhile, the joint main body 101 is limited to rotate on the central support member 20, so that the limit in the horizontal direction and the limit in the rotation on the central support member 20 are realized, and the stability of the position of the joint main body 101 in the correction process is kept. In the present embodiment, the horizontal direction refers to a direction in a horizontal plane, and may be, for example, the X direction in the drawing. The fixing member 31 is a fixed end that can abut against one side of the joint body 101 in the horizontal direction, and the pressing mechanism 32 presses the joint body 101 against the fixed end from the other side in the horizontal direction to limit the joint body 101. Optionally, a clamping portion is arranged on the fixing member 31, and the clamping portion is used for clamping and matching with the joint main body 101, so as to further ensure that the relative position between the joint main body 101 and the fixing member 31 is stable. In this embodiment, referring to fig. 2 and fig. 3, the fixing member 31 includes a first mounting bracket 311, a clamping boss 312 is disposed on one side of the first mounting bracket 311 close to the driving motor 10, the clamping boss 312 is a clamping portion, correspondingly, the joint main body 101 itself has a clamping groove, and the shape structure of the clamping boss 312 is matched with the shape structure of the clamping groove, and further when the joint main body 101 abuts against the fixing member 31, the clamping boss 312 is clamped in the clamping groove to realize clamping cooperation, the clamping cooperation can conveniently judge whether the joint main body 101 is assembled in place, meanwhile, the separation of the joint main body 101 from the fixing member 31 is limited, and the position stability of the mechanical arm joint 100 in the correction process is ensured. Of course, in some other embodiments, a clamping groove may be provided on the first mounting frame 311, and at this time, the clamping groove is a clamping portion, so that the joint main body 101 is clamped in the clamping groove, and the clamping fit can also be achieved, and the joint main body 101 can still be assembled in place and the position is stable.

Referring to fig. 1 and 2, the orthotic device further comprises a base 40, the base 40 comprising a base plate 41 and a support plate 42 spaced above the base plate 41; the fixing piece 31 and the pressing mechanism 32 are arranged above the supporting plate 42 at intervals; the motor body 11 passes through the support plate 42 from bottom to top and is arranged on the support plate 42 in a sliding manner along the horizontal direction. The interval between the bottom plate 41 and the supporting plate 42 is set to facilitate the accommodation of the motor body 11, reduce the volume of the correction device, and improve the compactness of the device. Further, a controller 80 may be disposed in the space between the bottom plate 41 and the supporting plate 42, and the controller 80 is electrically connected to the motor main body 11 to control the driving thereof. After the motor body 11 is mounted, the motor shaft 12 extends vertically upward from the motor body 11. The above arrangement of the driving motor 10 enables the joint main body 101 to be put into the correction device from top to bottom, which is more labor-saving and convenient. A handle 411 is further arranged on the bottom plate 41, so that the whole straightening device can be conveniently held and moved. Optionally, two handles 411 are provided, and are respectively located at two ends of the bottom plate 41 along the length direction.

During specific implementation, the mechanical arm joint 100 needs to be placed between the fixing piece 31 and the pressing mechanism 32, so that the distance between the motor main body 11 and the fixing piece 31 needs to be adjustable, an enough space is provided for placing the mechanical arm joint 100, the joint main body 101 is moved after the mechanical arm joint 100 is placed to be in clamping fit with the fixing piece 31, namely, the joint main body is initially positioned, and finally, the pressing mechanism 32 is used for pressing and limiting. Therefore, in this embodiment, the motor body 11 and the support plate 42 need to be slidably connected, so that when the robot joint 100 is assembled, the distance between the robot joint 100 and the fixing member 31 can be reasonably controlled, and after the joint body 101 and the center support member 20 are assembled, the entire driving motor 10 and the center support member 20 thereon are horizontally moved along the support plate 42, so that the joint body 101 and the fixing member 31 are completely engaged and engaged. Alternatively, referring to fig. 1 and 3, the supporting plate 42 is provided with a first guide rail 421 extending in the horizontal direction, and the motor body 11 is slidably disposed on the first guide rail 421, so that the accuracy of moving the motor body 11 in the water direction is ensured. Optionally, referring to fig. 2, a first convex edge 111 is disposed on an outer side wall of the motor body 11, an adapter plate 60 is disposed between the motor body 11 and the support plate 42, the motor body 11 is mounted on the adapter plate 60 through a fixed connection between the first convex edge 111 and the adapter plate 60, and the adapter plate 60 is slidably connected to the support plate 42, so that a sliding fit between the motor body 11 and the support plate 42 is achieved. Further alternatively, referring to fig. 2 and 3, a second protruding edge 21 is disposed on the central support 20, and the central support 20 is assembled with the motor main body 11 through the fixed connection between the second protruding edge 21 and the first protruding edge 111.

Specifically, referring to fig. 1-3, the hold-down mechanism 32 includes a second mounting bracket 321, a hold-down member 322, and a drive member 323; the second mounting bracket 321 is arranged on the supporting plate 42; the pressing piece 322 is arranged on the second mounting rack 321 in a sliding manner along the horizontal direction; the driving member 323 is disposed on the second mounting frame 321, and the driving end of the driving member 323 is connected to the pressing member 322 to drive the pressing member 322 to press against the joint body 101. Further specifically, the pressing element 322 includes a pressing support 3221 and a pressing block 3222 disposed on the pressing support 3221, the pressing support 3221 is slidably disposed on the second mounting frame 321, and the driving end of the driving element 323 is connected to the pressing support 3221; the pressing piece 3222 is used to abut against the joint main body 101. During specific implementation, the driving member 323 drives the compressing support 3221 to slide along the horizontal direction, so as to drive the pressing block 3222 on the compressing support 3221 to move until the pressing block 3222 abuts against the joint main body 101, so as to press the joint main body 101 on the fixing member 31. Further, one side of the pressing block 3222 abutting against the joint main body 101 is in a curved surface shape attached to the outer peripheral wall of the joint main body 101, so that the contact area between the pressing block 3222 and the joint main body 101 is increased, the pressing acting force is improved, and effective pressing is ensured. Further, the pressing support 3221 is an L-shaped plate, and the L-shaped plate includes a first side plate and a second side plate which are perpendicular to each other; the first side plate is provided with a pressing block 3222, and the second side plate is in sliding fit with the second mounting frame 321. Referring to fig. 3, a second guide rail 3211 extending in the horizontal direction is disposed on the second mounting bracket 321, and the pressing support 3221 is slidably disposed on the second guide rail 3211, so as to guide the pressing block 3222 to move in the horizontal direction.

The pressing block 3222 is made of a material having a certain elasticity, such as polyurethane, rubber, or the like, so as to protect the joint main body 101 from being scratched and crushed; the pressing support 3221 is usually made of hard materials such as steel, which facilitates the direct driving connection of the driving member 323 to the pressing support 3221 and the sliding fit with the second mounting frame 321.

Referring to fig. 2, the pressing support 3221 and the second mounting rack 321 are respectively provided with a mounting seat 324; the driving member 323 is a toggle mechanism; the driving member 323 specifically comprises a driving wrench 3231 and a sliding rod 3233, wherein the sliding rod 3233 penetrates through the two mounting seats 324 simultaneously along the horizontal direction; a first end of the sliding rod 3233 in the axial direction is connected to the driving wrench 3231 via a connecting rod assembly 3232, and a second end of the sliding rod 3233 in the axial direction is connected to the pressing support 3221. The sliding arrangement of the sliding rod 3233 on the mounting seat 324 provides a guide for the sliding rod 3233, and the driving wrench 3231 drives the sliding rod 3233 to horizontally slide through the connecting rod assembly 3232, so as to drive the pressing support 3221 to move. Specifically, the mounting seat 324 and the pressing block 3222 on the pressing support 3221 are respectively located at two sides of the first side plate of the L-shaped plate, and the mounting seat 324 is mounted on the second side plate, so that the structural arrangement of the driving member 323 is optimized. Further, a second end of the sliding rod 3233 is fixedly connected to the mounting seat 324, and the sliding rod 3233 drives the pressing support 3221 to move through the mounting seat 324.

It should be noted that the foregoing is only a preferred embodiment of the present invention and the technical principles applied. It will be understood by those skilled in the art that the present invention is not limited to the particular embodiments described herein, but is capable of various obvious changes, rearrangements and substitutions as will now become apparent to those skilled in the art without departing from the scope of the invention. Therefore, although the present invention has been described in greater detail with reference to the above embodiments, the present invention is not limited to the above embodiments, and may include other equivalent embodiments without departing from the scope of the present invention.

Claims (10)

1. An orthotic device for a robotic arm joint, comprising:

the driving device comprises a driving motor (10), wherein the driving motor (10) comprises a motor main body (11) and a motor shaft (12) vertically extending from the motor main body (11);

a central support (20) of hollow cylindrical configuration; the central support (20) is connected with the motor main body (11), and the motor shaft (12) is coaxially arranged in the central support (20) in a penetrating way; the joint main body (101) of the mechanical arm joint can be coaxially sleeved on the periphery of the central supporting piece (20), and the motor shaft (12) is used for being connected with a high-speed shaft of the mechanical arm joint;

and the limiting mechanism (30) is used for limiting the movement of the joint main body (101) in the horizontal direction and limiting the rotation of the joint main body on the central support piece (20).

2. The straightening device for a manipulator joint according to claim 1, characterized in that the straightening device further comprises a guide shaft (70), the motor shaft (12) is a hollow shaft, and the guide shaft (70) is coaxially arranged in the hollow shaft to realize the guide of the manipulator joint in the vertical direction.

3. The device for the straightening of a robot arm joint according to claim 1, characterized in that a bearing arrangement (50) is provided between the motor shaft (12) and the central support (20).

4. The device for correcting a mechanical arm joint according to claim 1, wherein the limiting mechanism (30) comprises a fixing member (31) and a pressing mechanism (32) which are arranged at intervals along the horizontal direction, and the pressing mechanism (32) is used for pressing the joint main body (101) on the fixing member (31) along the horizontal direction.

5. The mechanical arm joint correcting device of claim 4, wherein a clamping portion is arranged on the fixing member (31), and the clamping portion is used for clamping and matching with the joint main body (101).

6. The orthotic device of a robotic arm joint of claim 4, further comprising a base (40), said base (40) comprising a base plate (41) and a support plate (42) spaced above said base plate (41); the fixing piece (31) and the pressing mechanism (32) are arranged above the supporting plate (42) at intervals; the motor main body (11) penetrates through the supporting plate (42) from bottom to top and then is arranged on the supporting plate (42) in a sliding mode along the horizontal direction.

7. The orthosis of a robotic arm joint according to claim 6, wherein the hold-down mechanism (32) comprises:

a mounting bracket mounted on the support plate (42);

the pressing piece (322), the said pressing piece (322) is set on the said mounting bracket slidably along the said horizontal direction;

the driving piece (323) is arranged on the mounting frame, and the driving end of the driving piece (323) is connected with the pressing piece (322) so as to drive the pressing piece (322) to abut against the joint main body (101).

8. The device for correcting the mechanical arm joint according to claim 7, wherein the pressing member (322) comprises a pressing bracket (3221) and a pressing block (3222) arranged on the pressing bracket (3221), the pressing bracket (3221) is slidably arranged on the mounting frame, and the driving end of the driving member (323) is connected with the pressing bracket (3221); the pressing block (3222) is used for abutting against the joint main body (101), and one side of the pressing block (3222) abutting against the joint main body (101) is in a curved surface shape attached to the outer peripheral wall of the joint main body (101).

9. The device for correcting the mechanical arm joint according to claim 8, wherein the pressing support (3221) is an L-shaped plate, one side plate of the L-shaped plate is provided with the pressing block (3222), and the other side plate of the L-shaped plate is in sliding fit with the mounting frame.

10. The mechanical arm joint correcting device of claim 7, wherein a first guide rail (421) extending along the horizontal direction is arranged on the support plate (42), and the motor main body (11) is slidably arranged on the first guide rail (421); the mounting bracket is provided with a second guide rail (3211) extending along the horizontal direction, and the pressing piece (322) is slidably arranged on the second guide rail (3211).

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