CN218875503U - Mechanical arm transmission structure - Google Patents

Abstract

The utility model relates to the technical field of robots, in particular to a mechanical arm transmission structure, which changes the installation position of a driving mechanism from a mechanical arm II to the mechanical arm I, reduces the volume and the weight of the mechanical arm II, and transmits power by a transmission mechanism, so that the rotating torque of the mechanical arm I is increased, thereby improving the practicability of equipment; the mechanical arm device comprises a driving mechanism, a transmission mechanism, a first mechanical arm and a second mechanical arm, wherein the driving mechanism and the second mechanical arm are both arranged on the first mechanical arm, and the transmission mechanism is arranged in the first mechanical arm and the second mechanical arm; the first mechanical arm and the second mechanical arm support two pairs of driving mechanisms and transmission mechanisms, the driving mechanisms provide power for the transmission mechanisms, and the transmission mechanisms drive the second mechanical arm.

Description

Mechanical arm transmission structure

Technical Field

The utility model relates to a technical field of robot especially relates to a mechanical arm transmission structure.

Background

The wrist joint is an important component for connecting the arm and the manipulator of the robot, and the most important function of the wrist joint is to adjust and change the position and the three-dimensional posture of the manipulator in a three-dimensional space, so that the flexibility of the wrist joint during the space motion and the range of the space motion directly influence the function and the performance of the whole robot in work.

The arm structure of the existing industrial robot is shown in fig. 5, a first motor 1, a second motor 2 and most of transmission parts are all installed in a second mechanical arm, so that the center of the robot arm moves to the left, extra load is caused for the robot arm, the flexibility of the robot arm is affected, cables which provide electric energy and signals for the first motor 1 and the second motor 2 can be bent frequently in the operation process of the robot arm, the service life of the cables is shortened, the cables are easy to break, and the fault of the robot arm is caused.

Disclosure of Invention

In order to solve the technical problem, the utility model provides a change actuating mechanism's mounted position to arm one by in the arm two on, reduce the volume and the weight of arm two, drive mechanism transmits power, makes the rotatory moment of torsion increase of arm one to improve equipment's a mechanical arm transmission structure of practicality.

The utility model discloses a mechanical arm transmission structure, which comprises a driving mechanism, a transmission mechanism, a first mechanical arm and a second mechanical arm, wherein the driving mechanism and the second mechanical arm are both arranged on the first mechanical arm, and the transmission mechanism is arranged in the first mechanical arm and the second mechanical arm;

the first mechanical arm and the second mechanical arm support a driving mechanism and a transmission mechanism, the driving mechanism provides power for the transmission mechanism, and the transmission mechanism drives the second mechanical arm.

Preferably, the first mechanical arm comprises a rotating arm I and a motor mounting plate, and the left end of the motor mounting plate is connected with the right end of the rotating arm I;

the second mechanical arm comprises a second rotating arm and a first speed reducer, the right end of the second rotating arm is mounted at the left end of the first rotating arm, and the first speed reducer is mounted at the left end of the second rotating arm.

Preferably, the driving mechanism comprises a first motor, a second motor, a third motor, a first driving pulley, a first driven pulley, a first synchronous belt, a motor base, a bearing, a second driving pulley, a second driven pulley and a second synchronous belt, wherein the first motor and the second motor are both arranged at the right end of the motor mounting plate; through opening first motor, through first driving pulley, first driven pulley and the cooperation transmission of first synchronous belt, make drive mechanism drive rocking arm two rotatory, through opening the second motor, make the left part swing of drive mechanism drive rocking arm two arms two, through opening the third motor, through second driving pulley, second driven pulley and the cooperation transmission of second synchronous belt, make drive mechanism drive arm two rotate to improve equipment's practicality.

Preferably, the transmission mechanism comprises three groups of first long transmission shafts, a first single wheel shaft, a third driving pulley, a first intermediate transmission cylinder, a first connecting sleeve, a second intermediate transmission cylinder, a first bevel gear, a second bevel gear, two groups of second pulley shafts, two groups of fourth driven pulleys, a fourth synchronous belt, a third bevel gear, a fourth bevel gear, a second connecting sleeve, a second long transmission shaft, a fifth bevel gear, a rotating shaft, a second speed reducer, a speed reducer connecting arm, a gear shaft, a third speed reducer, a third driven pulley, a third synchronous belt, a sixth bevel gear and a short transmission shaft, the three groups of first long transmission shafts are rotatably arranged in a first rotating arm, the first driven pulleys and the second driven pulleys are respectively arranged at the right ends of the top first long transmission shaft and the bottom first long transmission shaft, the right end of the middle first long transmission shaft is arranged at the output end of a second motor, the left end of a first single wheel shaft is rotatably arranged in a first rotating arm, the right end of the first single wheel shaft is connected with the left end of a first long transmission shaft at the top, a third driving belt wheel is sleeved on the first single wheel shaft, a first intermediate transmission cylinder is rotatably arranged in the first rotating arm, a third driven belt wheel is sleeved on the first intermediate transmission cylinder, a third synchronous belt is sleeved on the third driving belt wheel and the third driven belt wheel, the right end of a second intermediate transmission cylinder is connected with the left end of the first intermediate transmission cylinder through a first connecting sleeve, a first bevel gear is sleeved at the left end of the second intermediate transmission cylinder, two groups of second belt wheel shafts are arranged in a second rotating arm, a second bevel gear is sleeved at the top end of the second belt wheel shaft at the right side and is meshed with the first bevel gear, two groups of fourth driven belt wheels are respectively sleeved at the bottoms of the two groups of second belt wheel shafts, and a fourth synchronous belt is sleeved on the two groups of fourth driven belt wheels, the third bevel gear is sleeved at the top end of a left second pulley shaft, the left end of the fourth bevel gear is connected with an input shaft of the first speed reducer, the fourth bevel gear is meshed with the third bevel gear, the second long transmission shaft is connected with the left end of the short transmission shaft through a second connecting sleeve, the right end of the short transmission shaft is connected with the left end of the middle first long transmission shaft, the short transmission shaft is positioned in the middle of the first middle transmission cylinder, the fifth bevel gear is sleeved at the left end of the second long transmission shaft, the second speed reducer is installed in the rotating arm II, the top end of the rotating shaft is connected with the input end of the second speed reducer, the sixth bevel gear is sleeved at the bottom end of the rotating shaft, the sixth bevel gear is meshed with the fifth bevel gear, the speed reducer connecting arm is installed on the second speed reducer and the rotating arm II, the third speed reducer is installed in the rotating arm I, the left end of the gear shaft is connected with the input end of the third speed reducer, the right end of the gear shaft is connected with the left end of the bottom first long transmission shaft, and the output end of the third speed reducer drives the rotating arm II; the first motor is turned on, the first long transmission shaft at the top, the first single wheel shaft, the third driving belt wheel, the third driven belt wheel and the third synchronous belt are in matched transmission, the first intermediate transmission cylinder drives the second intermediate transmission cylinder to rotate, the first bevel gear and the second bevel gear are in meshed transmission, two groups of fourth driven belt wheels and fourth synchronous belts are in matched transmission, the third bevel gear and the fourth bevel gear are in meshed transmission to drive the first speed reducer to rotate, the second long transmission shaft is driven to rotate by turning on the second motor and by transmission of the first long transmission shaft at the middle part and the short transmission shaft, the fifth bevel gear and the sixth bevel gear are in meshed transmission to drive the second speed reducer to drive the speed reducer connecting arm to operate, the speed reducer connecting arm drives the left part of the rotating arm two to swing, the third motor is turned on, the third speed reducer is driven to move by transmission of the first long transmission shaft at the bottom, and the third speed reducer drives the rotating arm two to rotate, and therefore the practicability of the equipment is improved.

Preferably, a tail end flange plate is arranged at the left end of the first speed reducer; the grabbing or adsorbing component is arranged on the tail end flange plate, the tail end flange plate is driven to rotate through the first speed reducer, and the tail end flange plate drives the grabbing or adsorbing component to rotate, so that the practicability of the equipment is improved.

Preferably, the device further comprises a synchronous belt tensioning wheel and a belt pulley pressing plate, the synchronous belt tensioning wheel is mounted inside the rotating arm II, and the belt pulley pressing plate is mounted on the synchronous belt tensioning wheel; the tension degree of the fourth synchronous belt is adjusted through the cooperation of the synchronous belt tensioning wheel and the belt wheel pressing plate, so that the practicability of the equipment is improved.

Preferably, the left end of the first speed reducer is coated with a sealant.

Preferably, the top end of the second rotating arm is coated with a sealant.

Preferably, a sealing tube is provided inside the first rotating arm, and the first intermediate transmission cylinder is located in the sealing tube.

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

1. the mounting position of the driving mechanism is changed from the second mechanical arm to the first mechanical arm, so that the volume and the weight of the second mechanical arm are reduced, and the flexibility of the second mechanical arm is improved;

2. the power is transmitted through the transmission mechanism, so that the rotating torque of the mechanical arm I is increased, and the occupied space of the transmission mechanism is reduced;

3. after the installation position of the driving mechanism is changed from the second mechanical arm to the first mechanical arm, cables connected to the second mechanical arm are reduced, bending of the cables is reduced, and the failure rate of equipment is reduced.

Drawings

Fig. 1 is a schematic structural diagram of the present invention;

fig. 2 is an enlarged schematic structural view of the first driving pulley and the first driven pulley;

fig. 3 is an enlarged structural schematic view of the first pulley shaft and the short transmission shaft of the present invention;

fig. 4 is an enlarged schematic structural view of the first speed reducer and the first bevel gear of the present invention;

fig. 5 is an enlarged schematic structural diagram of the first motor and the second motor of the present invention;

fig. 6 is a schematic structural diagram of the prior art of the present invention;

in the drawings, the reference numbers: 1. a first motor; 2. a second motor; 3. a third motor; 4. a first rotating arm; 5. a motor mounting plate; 6. a second rotating arm; 7. a first decelerator; 8. a first driving pulley; 9. a first driven pulley; 10. a first synchronization belt; 11. a motor base; 12. a bearing; 13. a second driving pulley; 14. a second driven pulley; 15. a second synchronous belt; 16. a first long drive shaft; 17. a first pulley shaft; 18. a third driving pulley; 19. a first intermediate transmission cylinder; 20. a first connecting sleeve; 21. a second intermediate drive cylinder; 22. a first bevel gear; 23. a second bevel gear; 24. a second pulley shaft; 25. a fourth driven pulley; 26. a fourth synchronous belt; 27. a third bevel gear; 28. a fourth bevel gear; 29. a second connecting sleeve; 30. a second long drive shaft; 31. a fifth bevel gear; 32. a rotating shaft; 33. a second decelerator; 34. a reducer connecting arm; 35. a gear shaft; 36. a third decelerator; 37. a third driven pulley; 38. a third synchronous belt; 39. a sixth bevel gear; 40. a short drive shaft; 41. a terminal flange plate; 42. a synchronous belt tensioning wheel; 43. a belt wheel pressing plate; 44. and (5) sealing the tube.

Detailed Description

In order to facilitate understanding of the present invention, the present invention will be described more fully hereinafter with reference to the accompanying drawings. The invention may be embodied in many different forms and is not limited to the embodiments described herein. Rather, these embodiments are provided so that this disclosure will be thorough and complete.

Examples

As shown in fig. 1, the robot comprises a driving mechanism, a transmission mechanism, a first mechanical arm and a second mechanical arm, wherein the driving mechanism and the second mechanical arm are both arranged on the first mechanical arm, and the transmission mechanism is arranged in the first mechanical arm and the second mechanical arm;

as shown in fig. 1, the first mechanical arm and the second mechanical arm support a pair of driving mechanism and transmission mechanism, the driving mechanism provides power for the transmission mechanism, and the transmission mechanism drives the second mechanical arm;

as shown in fig. 1, 2 and 5, the first mechanical arm comprises a rotating arm I4 and a motor mounting plate 5, wherein the left end of the motor mounting plate 5 is connected with the right end of the rotating arm I4;

as shown in fig. 1 and 4, the second mechanical arm comprises a second rotating arm 6 and a first speed reducer 7, wherein the right end of the second rotating arm 6 is mounted at the left end of the first rotating arm 4, and the first speed reducer 7 is mounted at the left end of the second rotating arm 6;

as shown in fig. 1, 2 and 5, the driving mechanism includes a first motor 1, a second motor 2, a third motor 3, a first driving pulley 8, a first driven pulley 9, a first synchronous belt 10, a motor base 11, a bearing 12, a second driving pulley 13, a second driven pulley 14 and a second synchronous belt 15, the first motor 1 and the second motor 2 are both installed at the right end of the motor mounting plate 5, the third motor 3 is installed at the right end of the motor mounting plate 5 through the motor base 11, the first driving pulley 8 and the second driving pulley 13 are respectively installed at the output ends of the first motor 1 and the third motor 3, the first driven pulley 9 and the second driven pulley 14 are both installed on the transmission mechanism, the first synchronous belt 10 is sleeved on the first driving pulley 8 and the first driven pulley 9, and the second synchronous belt 15 is sleeved on the second driving pulley 13 and the second driven pulley 14;

as shown in fig. 1, 3 and 4, the transmission mechanism includes three sets of a first long transmission shaft 16, a first single wheel shaft 17, a third driving pulley 18, a first intermediate transmission cylinder 19, a first connecting sleeve 20, a second intermediate transmission cylinder 21, a first bevel gear 22, a second bevel gear 23, two sets of second pulley shafts 24, two sets of fourth driven pulleys 25, a fourth synchronous belt 26, a third bevel gear 27, a fourth bevel gear 28, a second connecting sleeve 29, a second long transmission shaft 30, a fifth bevel gear 31, a rotating shaft 32, a second reducer 33, a reducer connecting arm 34, a gear shaft 35, a third reducer 36, a third driven pulley 37, a third synchronous belt 38, a sixth bevel gear 39 and a short transmission shaft 40, the three sets of first long transmission shafts 16 are rotatably installed in a rotating arm one 4, the first driven pulleys 9 and the second driven pulleys 14 are respectively installed at right ends of the top first long transmission shaft 16 and the bottom first long transmission shaft 16, the right end of a middle first long transmission shaft 16 is arranged on the output end of a second motor 2, the left end of a first single wheel shaft 17 is rotatably arranged in a first rotating arm 4, the right end of the first single wheel shaft 17 is connected with the left end of a top first long transmission shaft 16, a third driving pulley 18 is sleeved on the first single wheel shaft 17, a first intermediate transmission cylinder 19 is rotatably arranged in the first rotating arm 4, a third driven pulley 37 is sleeved on the first intermediate transmission cylinder 19, a third synchronous belt 38 is sleeved on the third driving pulley 18 and the third driven pulley 37, the right end of a second intermediate transmission cylinder 21 is connected with the left end of the first intermediate transmission cylinder 19 through a first connecting sleeve 20, a first bevel gear 22 is sleeved on the left end of the second intermediate transmission cylinder 21, two groups of second belt wheel shafts 24 are both arranged in a second rotating arm 6, a second bevel gear 23 is sleeved on the top end of a right second belt wheel shaft 24, the second bevel gear 23 is engaged with the first bevel gear 22, the two groups of fourth driven pulleys 25 are respectively sleeved at the bottoms of the two groups of second pulley shafts 24, the fourth synchronous belt 26 is sleeved on the two groups of fourth driven pulleys 25, the third bevel gear 27 is sleeved at the top end of the left second pulley shaft 24, the left end of the fourth bevel gear 28 is connected with the input shaft of the first speed reducer 7, the fourth bevel gear 28 is engaged with the third bevel gear 27, the second long transmission shaft 30 is connected with the left end of the short transmission shaft 40 through the second connecting sleeve 29, the right end of the short transmission shaft 40 is connected with the left end of the middle first long transmission shaft 16, the short transmission shaft 40 is positioned in the middle of the first middle transmission cylinder 19, the fifth bevel gear 31 is sleeved at the left end of the second long transmission shaft 30, the second speed reducer 33 is installed inside the swivel arm two 6, the top end of the rotating shaft 32 is connected with the input end of the second speed reducer 33, the sixth bevel gear 39 is sleeved at the bottom end of the rotating shaft 32, the sixth bevel gear 39 is engaged with the fifth bevel gear 31, the reducer connecting arm 34 is installed on the second speed reducer 6, the output end of the swivel arm 36, the third speed reducer 36 is connected with the left end of the third speed reducer 16, the rotating shaft 36, the output end of the rotating arm 6, the rotating shaft 36 is connected with the output end of the rotating shaft 36, the third speed reducer 36, the rotating arm 36, the rotating shaft 35;

a tail end flange plate 41 is arranged at the left end of the first speed reducer 7, sealant is coated at the left end of the first speed reducer 7 and the top end of the rotating arm II 6, a sealing pipe 44 is arranged inside the rotating arm I4, and the first intermediate transmission cylinder 19 is positioned in the sealing pipe 44;

the synchronous belt tensioning device further comprises a synchronous belt tensioning wheel 42 and a belt wheel pressing plate 43, the synchronous belt tensioning wheel 42 is installed inside the rotating arm II 6, and the belt wheel pressing plate 43 is installed on the synchronous belt tensioning wheel 42;

firstly, the first motor 1 is turned on, the first long transmission shaft 16, the first single wheel shaft 17, the third driving pulley 18, the third driven pulley 37 and the third synchronous belt 38 are in matched transmission, the first intermediate transmission cylinder 19 drives the second intermediate transmission cylinder 21 to rotate, the first bevel gear 22 is in meshed transmission with the second bevel gear 23, the two groups of fourth driven pulleys 25 are in matched transmission with the fourth synchronous belt 26, the third bevel gear 27 is in meshed transmission with the fourth bevel gear 28, the first speed reducer 7 is driven to drive the tail end flange 41 to rotate, meanwhile, the tension of the fourth synchronous belt 26 is adjusted through the matching of a synchronous belt tension pulley 42 and a pulley pressure plate 43, the second motor 2 is turned on, the second long transmission shaft 30 is driven to rotate through the transmission of the first long transmission shaft 16 and the short transmission shaft 40 in the middle part, the second speed reducer 33 drives the speed reducer 34 to operate, the speed reducer connecting arm 34 drives the left part of the rotating arm two 6 to swing through the transmission of the first long transmission shaft 16 in the middle part, the fifth bevel gear 31 is in meshed transmission with the sixth bevel gear 39, the third speed reducer connecting arm 36 is driven to move, and the third speed reducer 6 can drive the rotating arm 36 to rotate through the third speed reducer 3.

The utility model discloses a first motor 1, second motor 2, third motor 3, first reduction gear 7, second reduction gear 33, reduction gear linking arm 34 and third reduction gear 36 of arm drive structure are purchase on the market, and technical personnel only need install and operate according to its subsidiary instructions in this industry can, and need not the technical personnel in this field and pay out creative work.

The foregoing is only a preferred embodiment of the present invention, and it should be noted that, for those skilled in the art, a plurality of modifications and variations can be made without departing from the technical principle of the present invention, and these modifications and variations should also be regarded as the protection scope of the present invention.

Claims (9)

1. A mechanical arm transmission structure is characterized by comprising a driving mechanism, a transmission mechanism, a first mechanical arm and a second mechanical arm, wherein the driving mechanism and the second mechanical arm are both arranged on the first mechanical arm;

the first mechanical arm and the second mechanical arm support two pairs of driving mechanisms and transmission mechanisms, the driving mechanisms provide power for the transmission mechanisms, and the transmission mechanisms drive the second mechanical arm.

2. A mechanical arm transmission structure according to claim 1, wherein the mechanical arm I comprises a rotating arm I (4) and a motor mounting plate (5), and the left end of the motor mounting plate (5) is connected with the right end of the rotating arm I (4);

the second mechanical arm comprises a second rotating arm (6) and a first speed reducer (7), the right end of the second rotating arm (6) is installed at the left end of the first rotating arm (4), and the first speed reducer (7) is installed at the left end of the second rotating arm (6).

3. A mechanical arm transmission structure as claimed in claim 2, wherein the driving mechanism includes a first motor (1), a second motor (2), a third motor (3), a first driving pulley (8), a first driven pulley (9), a first synchronous belt (10), a motor base (11), a bearing (12), a second driving pulley (13), a second driven pulley (14) and a second synchronous belt (15), the first motor (1) and the second motor (2) are both installed at the right end of the motor installation plate (5), the third motor (3) is installed at the right end of the motor installation plate (5) through the motor base (11), the first driving pulley (8) and the second driving pulley (13) are respectively installed at the output ends of the first motor (1) and the third motor (3), the first driven pulley (9) and the second driven pulley (14) are both installed on the transmission mechanism, the first synchronous belt (10) is sleeved on the first driving pulley (8) and the first driven pulley (9), and the second synchronous belt (15) is sleeved on the second driving pulley (13).

4. A mechanical arm transmission structure as claimed in claim 3, wherein the transmission mechanism comprises three sets of a first long transmission shaft (16), a first single wheel shaft (17), a third driving pulley (18), a first intermediate transmission cylinder (19), a first connecting sleeve (20), a second intermediate transmission cylinder (21), a first bevel gear (22), a second bevel gear (23), two sets of a second wheel shaft (24), two sets of a fourth driven pulley (25), a fourth synchronous belt (26), a third bevel gear (27), a fourth bevel gear (28), a second connecting sleeve (29), a second long transmission shaft (30), a fifth bevel gear (31), a rotating shaft (32), a second speed reducer (33), a speed reducer connecting arm (34), a gear shaft (35), a third speed reducer (36), a third driven pulley (37), a third synchronous belt (38), a sixth bevel gear (39) and a short transmission shaft (40), the three sets of the first long transmission shaft (16) are rotatably mounted in the first long rotation arm (4), the first driven pulley (9) and the second synchronous belt (14) are mounted on the top of the first long transmission shaft (16) and the right end of the second long transmission shaft (16) respectively, and the left end of the second long transmission shaft (16) is mounted on the first long transmission shaft (17), the right end of a first single wheel shaft (17) is connected with the left end of a first long transmission shaft (16) at the top, a third driving belt wheel (18) is sleeved on the first single wheel shaft (17), a first intermediate transmission cylinder (19) is rotatably installed in a first rotating arm (4), a third driven belt wheel (37) is sleeved on the first intermediate transmission cylinder (19), a third synchronous belt (38) is sleeved on the third driving belt wheel (18) and the third driven belt wheel (37), the right end of a second intermediate transmission cylinder (21) is connected with the left end of the first intermediate transmission cylinder (19) through a first connecting sleeve (20), a first bevel gear (22) is sleeved on the left end of the second intermediate transmission cylinder (21), two groups of second belt wheel shafts (24) are installed inside a second rotating arm (6), a second bevel gear (23) is sleeved on the top end of a second belt wheel shaft (24) at the right side, a second bevel gear (23) is meshed with the first bevel gear (22), two groups of fourth belt wheel shafts (25) are respectively sleeved on the bottom of the second group of second belt wheel shafts (24), a fourth bevel wheel shaft (28) is connected with a fourth bevel wheel shaft (28), a fourth bevel wheel (27) is connected with a fourth bevel wheel shaft (28) and a fourth bevel wheel (27) is connected with a third bevel wheel (28) sleeved on the bottom of the second shaft (28), the second long transmission shaft (30) is connected with the left end of the short transmission shaft (40) through a second connecting sleeve (29), the right end of the short transmission shaft (40) is connected with the left end of the first long transmission shaft (16) in the middle, the short transmission shaft (40) is positioned in the middle of the first intermediate transmission cylinder (19), a fifth bevel gear (31) is sleeved at the left end of the second long transmission shaft (30), a second speed reducer (33) is installed inside the rotating arm II (6), the top end of the rotating shaft (32) is connected with the input end of the second speed reducer (33), a sixth bevel gear (39) is sleeved at the bottom end of the rotating shaft (32), the sixth bevel gear (39) is connected with the fifth bevel gear (31) in a meshed mode, the speed reducer (34) is installed on the second speed reducer (33) and the rotating arm II (6), a third speed reducer (36) is installed inside the rotating arm I (4), the left end of the connecting arm (35) is connected with the input end of the third speed reducer (36), the right end of the gear shaft (35) is connected with the first long transmission shaft (16) at the bottom, and the output end of the second speed reducer (6) drives the rotating arm (6).

5. A robot arm transmission according to claim 2, wherein said first speed reducer (7) is provided with a terminal flange (41) at its left end.

6. The mechanical arm transmission structure as claimed in claim 2, wherein the inside of the second rotating arm includes a timing belt tension pulley (42) and a pulley pressing plate (43), the timing belt tension pulley (42) is mounted inside the second rotating arm (6), and the pulley pressing plate (43) is mounted on the timing belt tension pulley (42).

7. The mechanical arm transmission structure as claimed in claim 2, wherein the left end of the first speed reducer (7) is coated with a sealant.

8. The mechanical arm transmission structure as claimed in claim 2, wherein the top end of the second rotating arm (6) is coated with sealant.

9. A robot arm transmission according to claim 4, wherein a sealing tube (44) is provided inside the first pivot arm (4), and the first intermediate transmission cylinder (19) is located in the sealing tube (44).

Images