CN105599008A

CN105599008A - Mechanical arm and robot

Info

Publication number: CN105599008A
Application number: CN201610084116.7A
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: 2016-05-25

Abstract

The invention discloses a mechanical arm which comprises two arm components connected with each other through a rotating shaft in a rotatable manner, and a drawing wire fixedly connected with one arm component in way of surrounding the rotating shaft, wherein the rotating shaft is basically vertical to the length direction of the arm component. According to the mechanical arm provided by the invention, the drawing wire can be pulled to make the arm component connected with the drawing wire rotate relatively to the other arm component; under such condition, a driving device for pulling the drawing wire can be arranged outside the mechanical arm, but not limited to the rotatable joint of the two arm components, so that the weight of the mechanical arm is reduced, and the structure of the mechanical arm is simplified; meanwhile, under the pulling of the drawing wire, one arm component can swing around the other arm component to realize swing control. The invention further discloses a robot which comprises the mechanical arm.

Description

Mechanical arm and robot

Technical field

The present invention relates to robot field, be specifically related to a kind of mechanical arm and robot.

Background technology

The drive unit of existing machinery arm is generally positioned at the joint that two arm members are rotationally connected, and causes machineryArm deadweight is excessive, and articulation structure complexity.

Summary of the invention

The present invention is intended to solve at least to a certain extent one of technical problem in correlation technique. For this reason, the present invention carriesGo out a kind of mechanical arm and robot.

The mechanical arm of embodiment of the present invention comprises:

Two arm members that are rotationally connected by rotating shaft; And

The wire drawing being fixedly connected with one of them arm member around described rotating shaft;

Described rotating shaft is basically perpendicular to the length direction of described arm member.

Mechanical arm of the present invention can be by the arm member that pulls wire drawing to make to be connected with wire drawing with respect to another handArm member rotates, and in the case, pulls the drive unit of wire drawing can be not limited to be arranged on turning of two arm membersThe place that is dynamically connected, and being arranged on outside mechanical arm, thereby the deadweight that alleviates mechanical arm, simplify the structure of mechanical arm.Meanwhile, under the pulling force effect of wire drawing, arm member can swing around another one arm member, swings thereby realizeControl.

In some embodiments, one end of described arm member is extended with arm along the length direction of described arm memberConnector, described arm connector is formed with axis hole, described rotating shaft rotate be located in two described arm members described inThereby in axis hole, described two arm members are rotationally connected.

In some embodiments, described arm connector comprises two rotating shaft support frames that spaced and parallel arranges, described inAxis hole is opened on described two rotating shaft support frames, and described in one of them, described two rotating shaft supports of arm member set upPut between described two rotating shaft support frames of arm member described in another.

In some embodiments, described rotating shaft comprises in the described axis hole that is located in adjacent two described rotating shaft support framesStraight pin.

In some embodiments, described rotating shaft support frame comprise first surface and with described first surface opposing secondSurface, described arm connector comprises along the outward extending wire drawing disk of described first surface, the axle of described wire drawing diskTo coaxial with described rotating shaft, the size of described wire drawing disk is greater than the size of described rotating shaft, and described wire drawing is around described wire drawingDisk is also fixedly connected with described rotating shaft support frame.

In some embodiments, described axis hole is along described wire drawing disk of axially running through of described wire drawing disk.

In some embodiments, described rotating shaft support frame is formed with outward and runs through described first surface at described wire drawing diskAnd the first connecting hole of described second surface, described wire drawing comprises link and pulls end, described link is formed with protrudingHead, described in pull end respectively from described second surface one side of two described rotating shaft support frames through described the first connecting holeThereby after around described wire drawing disk pull until described plush copper be fastened in described the first connecting hole by described wire drawing with described inRotating shaft support frame is fixedly connected with.

In some embodiments, described mechanical arm comprises balancing spring, and described two arm members are by described flatWeighing apparatus spring connects.

The robot of embodiment of the present invention, comprises the mechanical arm of above-mentioned arbitrary embodiment.

The robot of embodiment of the present invention is owing to comprising above-mentioned mechanical arm, thereby alleviated deadweight, and improves simultaneouslyThe load efficiency of robot.

Additional aspect of the present invention and advantage in the following description part provide, and part will become from the following descriptionObtain obviously, or recognize by practice of the present invention.

Brief description of the drawings

Above-mentioned and/or additional aspect of the present invention and advantage from conjunction with below accompanying drawing to becoming the description of embodimentObviously and easily understand, wherein:

Fig. 1 is the schematic perspective view of the mechanical arm of embodiment of the present invention.

Fig. 2 is the schematic perspective view at another visual angle of mechanical arm of embodiment of the present invention.

Fig. 3 is the schematic perspective view at another visual angle of the mechanical arm of embodiment of the present invention.

Fig. 4 is the part schematic perspective view of the mechanical arm of embodiment of the present invention.

Fig. 5 is another part schematic perspective view of the mechanical arm of embodiment of the present invention.

Fig. 6 is the I part enlarged diagram of the mechanical arm of Fig. 5.

Fig. 7 is the schematic perspective view of the wire drawing of the mechanical arm of embodiment of the present invention.

The schematic perspective view at another visual angle of the mechanical arm of Fig. 8 embodiment of the present invention.

Fig. 9 is the schematic perspective view of the mechanical arm of another embodiment of the present invention.

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

Figure 13 is the schematic perspective view of the mechanical arm of embodiment of the present invention.

Figure 14 is another schematic perspective view of the mechanical arm of embodiment of the present invention.

Detailed description of the invention

Below in conjunction with accompanying drawing, embodiments of the present invention are described further. In accompanying drawing, same or similar label ad initioTo the whole element that represents same or similar element or there is identical or similar functions.

In addition, the embodiments of the present invention of describing below in conjunction with accompanying drawing are exemplary, only of the present invention for explainingEmbodiment, and can not be interpreted as limitation of the present invention.

Refer to Fig. 1-3, the mechanical arm 100 of embodiment of the present invention comprises two that are rotationally connected by rotating shaft 10Arm member 20 and around the shaft 10 wire drawings 30 that are fixedly connected with one of them arm member 20. Rotating shaft 10 basesThis is perpendicular to the length direction (double-head arrow direction as shown in Figure 1) of arm member 20.

The mechanical arm 100 of embodiment of the present invention can be by pulling wire drawing 30 to make the arm being connected with wire drawing 30Member 20 rotates with respect to another arm member 20, in the case, pulls the drive unit of wire drawing 30 can be notBe limited to and be arranged on the joint that two arm members 20 are rotationally connected, but can be arranged on other suitable positions, veryTo being arranged on outside mechanical arm 100, thereby mechanical arm 100 is simplified in the deadweight that alleviates mechanical arm 100 simultaneouslyArticulation structure. Meanwhile, under the pulling force effect of wire drawing 30, arm member 20 can be around another one arm member20 swing, and control thereby realize swinging.

See also Fig. 4 and Fig. 5, in some embodiments, arm member 20 is hollow form and both ends openTubular structure, for example in some examples, arm member 20 is circular tube shaped.

So, can alleviate the deadweight of arm member 20, thereby further alleviate the deadweight of mechanical arm 100.

It will be appreciated, of course, that arm member 20 is not limited to the structure of embodiment discussed above, and can be at itIn his embodiment, adopt as required other suitable structures.

In some embodiments, one end of arm member 100 is extended with arm even along the length direction of arm member 20Fitting 21. Arm connector 21 is formed with axis hole 22. The axis hole 22 that wears two arm members 20 is rotated in rotating shaft 10Thereby in two arm members 20 are rotationally connected.

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

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

For example, in some embodiments, arm member 20 can comprise lower arms member 20 (please refer to the drawing 4) and left-hand seatArm member 20 (please refer to the drawing 5).

Interval between two rotating shaft support frames 210 of lower arms member 20 can turn than two of last arm member 20The interval of shaft supporting frame 210 is large, and so, two rotating shaft support frames 210 of lower arms member 20 form pin joint seat, andTwo rotating shaft support frames 210 of last arm member 20 can be arranged on 20 two rotating shaft support frames 210 of lower arms memberBetween (embed pin joint seat in). Then be located in by rotating shaft 10 that axis hole 22 is interior realizes turning of two arm members 20Be dynamically connected.

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, be formed with receiving space, other can be setElement or other project organizations, therefore improved the design freedom of the joint of mechanical arm 100.

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

See also Fig. 7, wire drawing 30 can be that the intensity of flexible stainless steel wire or other materials is satisfactoryWire drawing. Wire drawing 20 can comprise link 31 and pull end 32.

In some embodiments, the rotating shaft support frame 210 of the arm connector 21 of last arm member 20 comprises firstSurface 211 and with the opposing second surface 212 of first surface 211. Arm connector 21 comprises along first surface 211Extend to form laterally wire drawing disk 213. Axial and the rotating shaft 10 of wire drawing disk 213 coaxially arranges, wire drawing disk213 size is greater than the size of rotating shaft 10, and wire drawing 30 is fixedly connected with rotating shaft support frame 210 after wire drawing disk 213.

Be appreciated that in the embodiment of discussing, wire drawing 30 is 10 to establish around the shaft around wire drawing disk 213 in the abovePut. So can increase the rotation arm of force that wire drawing 30 pulls arm member 20 makes wire drawing 30 pull arm member 20More laborsaving. Thereby, can adopt the drive unit of smaller power to pull wire drawing.

In some embodiments, axis hole 22 axially runs through wire drawing disk 213 along wire drawing disk 213. So, protectCard wire drawing disk 213 is coaxial with rotating shaft 10, thereby can effectively increase wire drawing 30 and pull the rotatory force of arm member 20Arm.

Axle supporting surface 210 is formed with and runs through first of first surface 211 and second surface 212 outside wire drawing disk 213Connecting hole 214 (seeing Fig. 5). The size of the first connecting hole 214 is greater than the transversal size of wire drawing, to allow wire drawing 30Wear. The link 31 of wire drawing 30 can be formed with the plush copper 311 that size is greater than the first connecting hole 214.

So, the end 32 that pulls of wire drawing 30 is justified around wire drawing from second surface 212 1 sides are passed the first connecting hole 214Dish 213 pull until the plush copper 311 of link 31 (seeing Fig. 8) be fastened on the first connecting hole 214 can be by wire drawing 30Be fixed on rotating shaft support frame 210.

Be appreciated that by according to wire drawing 30 around to arranging on the position of the first connecting hole 214, wire drawing 30 being setAround the radian of wire drawing disk 213, for example, be 180 degree. Thereby can control wire drawing 30 pulls arm member 20 to rotateAngle.

In some embodiments, wire drawing 30 comprises two, and two wire drawings 20 arrange respectively two of arm member 20On rotating shaft support frame 210, and around on the contrary, so, can pull arm member to rotate along two rightabouts. KnotClose the structure that every wire drawing 30 can pull arm member 20 to rotate, can obtain two arm members 20 can be mutualThe angle of rotating. For example, a wire drawing 30 can pull arm member 20 to rotate 180 degree, and another root wire drawing 30Can pull arm member 20 to rotate-180 degree, arrive thereby wire drawing 30 can pull arm member 20 to rotate-180 degree180 degree.

Be appreciated that two rhizoids 30 around the mutual slewing area to expanding on the contrary arm member.

Certainly, specifically arranging of wire drawing 30 can be not limited to embodiment discussed above, and can be in other enforcement sidesIn formula, look demand setting.

See also Fig. 8, in some embodiments, mechanical arm 100 comprises balancing spring 40. Two armsMember 20 connects by balancing spring 40.

So, the deadweight of the support force balancing machine arm 100 providing by balancing spring 40, makes mechanical arm 100Start-up and operation more stable, and can increase the load capacity of mechanical arm 100, improve drive efficiency.

In some embodiments, balancing spring 40 comprises two, and connects with two rotating shaft support frames 210 are fixing respectivelyConnect. Balancing spring 40 two ends are connected with two arm members 20 respectively, in the time that arm member 20 relatively rotates, and need gramTake the pulling force of balancing spring 40. In the time that two arm members 20 relatively rotate to all in vertical position, in upper endThe center of gravity of arm member 20 substantially in rotating shaft 10 centers, the counter balance torque minimum that now balancing spring 40 provides;When the arm member 20 of upper end relatively rotates to while being horizontal, the center of gravity of the arm member 20 of upper end is from rotating shaftFarthest, the counter balance torque that now balancing spring 40 provides approaches maximum in 10 centers. So, balancing spring 40 canThe deadweight of balancing machine arm 100, thereby the drive unit service efficiency of raising driving device arm 100.

In some embodiments, balancing spring 40 comprises line spring, and comprises carbine 41. Arm connector 21On second surface 212, be provided with connecting axle 215. Balancing spring 40 is arranged on connecting axle 215 by carbine 41.

So, balancing spring 40 is connected the institute that is arranged at arm connector 21 with connecting axle 215 by carbine 41State in receiving space, thereby realize the effect that balance arm member 20 is conducted oneself with dignity.

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

In other embodiments, connecting axle 215 can be arranged at second surface 212 by suitable modes such as weldingUpper, therefore, it should be noted that, be not restricted to straight pin discussed above.

Certainly, in other embodiments, balancing spring 40 can also be torsion spring. Therefore, it should be noted that, flatWeighing apparatus spring 40 is not limited in line spring discussed above.

Refer to Fig. 9 and Figure 10, embodiment of the present invention provides a kind of mechanical arm 100a, mechanical arm 100a bagDraw together two arm member 20a that are rotationally connected by rotating shaft 10a.

In the orientation shown in Fig. 9, the wire drawing 30a of mechanical arm 100a is fixedly connected with position at upper arm member 20a.

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

So, under the pulling force effect of wire drawing 30a, arm member 20a can rotate around another one arm member 20a,Control thereby realize rotating.

In some embodiments, two arm member 20a in relative rotation angle comprise that-180 degree are to 180 degree.

Can relative angle be set according to demand, in some embodiments, arm member 20a has larger rotationScope, goes for more occasion.

In some embodiments, rotating shaft 10a two ends are fixedly connected with one end of two arm member 20a respectively and extremelyFew one end and at least one arm member 20a are rotationally connected.

So, mechanical arm 100a forms rotational structure, and can arrange as the case may be.

See also Figure 10, Figure 11 and Figure 12, in some embodiments, rotating shaft 10a and one of them armMember 20a (position under arm member 20a) is rotationally connected. Rotating shaft 10a comprises first surface 11a and with firstThe opposing second surface 12a of surface 11a. Rotating shaft 10a offers and runs through of first surface 11a and second surface 12aTwo connecting hole 13a. Wire drawing 30a comprises link 31a and pulls end 32a. Link 31a is formed with plush copper 311a.Pull end 32a to pull around first surface 11a through the second connecting hole 13a from second surface 12a mono-side of rotating shaft 10aThereby until the described plush copper 311a of link 31a is fastened in the second connecting hole 13a, wire drawing 30a is fixed on to rotating shaftOn 10a.

So, two wire drawing 30a are directly set around the cradle head place that arm member 20a forms, thereby by wire drawing30a realizes rotating and controls.

In some embodiments, arm member 20a is the structure of hollow and both ends open. Wire drawing 30a wears armMember 20a. Pull the end 32a member 20a that makes a stretch of the arm.

So, the wire drawing 30a member 20a that makes a stretch of the arm along arm member 20a inside, is beneficial to protection wire drawing 30a, and knotStructure compactness attractive in appearance. And the end 32a that pulls of the member 20a that makes a stretch of the arm can directly and be arranged at mechanical arm 100aOuter drive unit connects.

In some embodiments, rotating shaft 10a is bearing. Two arm joint member 21a of two arm member 20aBe connected with described bearing enclose respectively. Two arm joint member 21a (Figure 12) produce relatively by described bearingRotate.

So, the syndeton of arm member 20a is simple, and two arm joint member 21a of mechanical arm 100aLess with the frictional force of the junction of bearing.

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

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

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

Two wire drawing 30a can drive respectively an arm member 20a with respect to another arm member 20a individuallyRotate along positive and negative contrary direction.

In some embodiments, mechanical arm 100a comprises steering bearing 40a (Fig. 9). Cod 40a arrangesIn arm member 20a. Wire drawing 30a changes the direction that pulls of wire drawing 30a by steering bearing 40a.

So, and the direction that pulls of wire drawing 30a can be set as the case may be, steering bearing 40a is by wire drawingThe length direction that 30a is basically perpendicular to arm member 20a becomes the length direction that is basically parallel to arm member 20a, justIn the driving of mechanical arm 100a, facilitate wire drawing 30a to pass through in the middle of arm member 20a, promote mechanical arm 100aThe stability of operation, avoids wire drawing 30a exposed outside arm member 20a, makes compact appearance attractive in appearance simultaneously.

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

Particularly, in present embodiment, arm member 20a offers accepting hole 22a. Steering bearing 40a is arranged on receiptsHold in the 22a of hole.

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

Particularly, in the example depicted in fig. 12, mechanical arm 100a comprises last arm member 20aa and lower arms structurePart 20ab. Rotating shaft 10a is contained in lower arms member 20ab. So, simple in structure, save space.

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

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

Particularly, in the example depicted in fig. 12, wire drawing 30a wears the second connecting hole 13a and is housed in winding slot,And the end 32a that pulls of wire drawing 30a stretches out through the sidewall of lower arms member 20ab.

Refer to Figure 13, the mechanical arm 1000 of present embodiment is by mechanical arm 100 and mechanical arm 100a groupClose and form. From mechanical arm 1000 ends to front end, be formed with successively cradle head 1001, swinging joint 1002,Swinging joint 1003, cradle head 1004, swinging joint 1005 and cradle head 1006. In the example shown in diagramIn, mechanical arm 1000 can be general six axis robot arm.

The mechanical arm 1000 of present embodiment is owing to being combined with mechanical arm 100a by mechanical arm 100, because ofThis, pull the drive unit 1100 of wire drawing 30b can be arranged on outside mechanical arm 1000, thereby alleviate mechanical arm1000 deadweight, the structure of simplification mechanical arm 1000.

In some embodiments, mechanical arm 1000 adopts wire drawing 30b to drive. Wire drawing 30b overcoat has bourdon tube1200. Wire drawing 30b is fixed on one end on mechanical arm 1000, the sky that its other end forms through mechanical arm 1000Chamber and being connected with drive unit 1100.

So, simple in structure, and the deadweight that has alleviated mechanical arm 1000, improve load efficiency.

Refer to Figure 14, the mechanical arm 2000 of present embodiment is by mechanical arm 100 and mechanical arm 100a groupClose and form. From mechanical arm 2000 ends to front end, be formed with successively cradle head 2001, swinging joint 2002,Swinging joint 2003, swinging joint 2004, intersection swinging joint 2005 and cradle head 2006. Diagram shown inIn example, mechanical arm 2000 can be to intersect and swings six axis robot arm.

The mechanical arm 2000 of present embodiment is owing to being combined with mechanical arm 100a by mechanical arm 100, because ofThis, pull the drive unit 2100 of wire drawing 30c can be arranged on outside mechanical arm 2000, thereby alleviate mechanical arm2000 deadweight, the structure of simplification mechanical arm 2000.

In some embodiments, mechanical arm 2000 adopts wire drawing 30c to drive. Wire drawing 30c overcoat has bourdon tube 1200.Wire drawing 30c is fixed on one end on mechanical arm 2000, the cavity that its other end forms through mechanical arm 2000 and withDrive unit 2100 connects.

So, simple in structure, and the deadweight that has alleviated mechanical arm 2000, improve load efficiency.

The robot of embodiment of the present invention is owing to comprising mechanical arm 100 or mechanical arm 100 or mechanical arm100a, thus deadweight alleviated, and improved the load efficiency of robot simultaneously.

In description of the invention, it will be appreciated that term " " center ", " longitudinally ", " laterally ", " longDegree ", " width ", " thickness ", " on ", D score, 'fornt', 'back', " left side ", " right side "," vertically ", " level ", " top ", " end " " interior ", " outward ", " clockwise ", " counterclockwise ",The orientation of the instruction such as " axially ", " radially ", " circumferentially " or position relationship are based on orientation shown in the drawings or positionPutting relation, is only the present invention for convenience of description and simplified characterization, instead of device or the element of instruction or hint indicationMust there is specific orientation, construct and operation with specific orientation, therefore can not be interpreted as limitation of the present invention.

In addition, term " first ", " second " be only for describing object, and can not be interpreted as instruction or hint relativelyImportance or the implicit quantity that indicates indicated technical characterictic. Thus, be limited with " first ", " second "One or more these features can be expressed or impliedly be comprised to feature. In description of the invention, " multiple "Implication be more than two, unless otherwise expressly limited specifically.

In the present invention, unless otherwise clearly defined and limited, term " installation ", " being connected ", " connection ",The term such as " fixing " should be interpreted broadly, and for example, can be to be fixedly connected with, and can be also to removably connect, or becomesOne; Can be mechanical connection, can be also electrical connection; Can be to be directly connected, also can be by between intermediaryConnecing connectedly, can be the connection of two element internals or the interaction relationship of two elements. Common for this areaTechnical staff, can understand above-mentioned term concrete meaning in the present invention as the case may be.

In the present invention, unless otherwise clearly defined and limited, First Characteristic Second Characteristic " on " or D scoreCan be that the first and second features directly contact, or the first and second features be by intermediary mediate contact. And,First Characteristic Second Characteristic " on ", " top " and " above " but First Characteristic directly over Second CharacteristicOr oblique upper, or only represent that First Characteristic level height is higher than Second Characteristic. First Characteristic Second Characteristic " under "," below " and " below " can be First Characteristic under Second Characteristic or tiltedly, or only represents the first spyLevy level height and be less than Second Characteristic.

In the description of this description, reference term " embodiment ", " some embodiment ", " example ",Specific features that the description of " concrete example " or " some examples " etc. means to describe in conjunction with this embodiment or example,Structure, material or feature are contained at least one embodiment of the present invention or example. In this manual, to upperThe schematic statement of stating term not must for be identical embodiment or example. And, the specific features of description,Structure, material or feature can one or more embodiment in office or example in suitable mode combination. In addition,Not conflicting in the situation that, those skilled in the art can or show the different embodiment that describe in this descriptionThe feature of routine and different embodiment or example is carried out combination and combination.

Although illustrated and described embodiments of the invention above, be understandable that, above-described embodiment is exampleProperty, can not be interpreted as limitation of the present invention, those of ordinary skill in the art within the scope of the invention can be rightAbove-described embodiment changes, amendment, replacement and modification.

Claims

1. a mechanical arm, is characterized in that, comprising:

Two arm members that are rotationally connected by rotating shaft; And

2. mechanical arm as claimed in claim 1, is characterized in that, one end of described arm member is along described arm structureThe length direction of part is extended with arm connector, and described arm connector is formed with axis hole, and described rotating shaft is rotated and is located in twoThereby in the described axis hole of individual described arm member, described two arm members are rotationally connected.

3. mechanical arm as claimed in claim 2, is characterized in that, described arm connector comprises spaced and parallel settingTwo rotating shaft support frames, described axis hole is opened on described two rotating shaft support frames, arm member described in one of themDescribed two rotating shaft support frames are arranged between described two rotating shaft support frames of arm member described in another.

4. mechanical arm as claimed in claim 3, is characterized in that, described rotating shaft comprises and being located in described in adjacent twoStraight pin in the described axis hole of rotating shaft support frame.

5. mechanical arm as claimed in claim 3, is characterized in that, described rotating shaft support frame comprise first surface and withThe second surface that described first surface is opposing, described arm connector comprises along the outward extending wire drawing circle of described first surfaceDish, described wire drawing disk axially coaxial with described rotating shaft, the size of described wire drawing disk is greater than the size of described rotating shaft,Described wire drawing is fixedly connected with around described wire drawing disk and with described rotating shaft support frame.

6. mechanical arm as claimed in claim 5, is characterized in that, described axis hole axially passes through along described wire drawing diskWear described wire drawing disk.

7. mechanical arm as claimed in claim 5, is characterized in that, described rotating shaft support frame is outside described wire drawing diskBe formed with the first connecting hole that runs through described first surface and described second surface, described wire drawing comprises link and pullsEnd, described link is formed with plush copper, described in pull end respectively from the described second surface one of two described rotating shaft support framesSide pulls until described plush copper is fastened in described the first connecting hole around described wire drawing disk through after described the first connecting holeThereby described wire drawing is fixedly connected with described rotating shaft support frame.

8. mechanical arm as claimed in claim 1, is characterized in that, described mechanical arm comprises balancing spring, described inTwo arm members connect by described balancing spring.

9. a robot, is characterized in that, described robot comprises the machinery as described in claim 1-8 any oneArm.