Mechanical arm

Abstract

The invention provides a mechanical arm, which comprises a main arm, at least one support arm and a first rotating joint for rotatably mounting the support arm on the main arm, and the support arm is provided with a reinforcing structure from the position where the first rotating joint is mounted to the tail end, so that the support stability of the mechanical arm is improved, and the requirement on surgical precision can be met; and the support arm can flexibly rotate relative to the main arm by utilizing the first rotating joint, so that the adjustment is convenient.

Description

Technical Field

[0001] The present invention relates to a medical device, and in particular to a mechanical arm clinically used for supporting a surgical execution device or a surgical robot. Background Art

[0002] At present, high-end medical equipment and robot-assisted surgical technology are developing rapidly. In China, many companies have put their laparoscopic, orthopedic, spinal and vascular interventional surgical robot systems into trials, clinical trials or on the market. However, in order for surgical robots to assist doctors in performing surgeries and various surgical procedures on patients on the operating table, a stable support platform is required. However, the support stability of such support platforms is generally poor and cannot meet the requirements of surgical precision. Summary of the invention

[0003] Based on this, it is necessary to provide a new type of robotic arm to address the shortcomings of the prior art.

[0004] The present invention provides a mechanical arm, which comprises a main arm, at least one branch arm, and the branch arm is rotatably installed on a first rotating joint of the main arm. The branch arm is provided with a reinforcement structure from the first rotating joint to the end.

[0005] Furthermore, the first rotation joint is mounted on a first end of the support arm, and the reinforcement structure extends from the first end of the support arm to an opposite second end.

[0006] Further, the support arm includes a mounting portion formed at the first end, a frame portion formed at the second end, and a middle portion connecting the mounting portion and the frame portion, and the reinforcement structure includes a first reinforcement structure protruding from the middle portion.

[0007] Furthermore, the reinforcement structure also includes a second reinforcement structure extending from the middle portion to the frame portion.

[0008] Furthermore, the first reinforcement structure and the second reinforcement structure are respectively located on two opposite sides of the support arm.

[0009] Further, the first reinforcement structure is located on a side of the support arm away from the main arm, and the second reinforcement structure is located on a side of the support arm close to the main arm.

[0010] Furthermore, the first reinforcement structure and the second reinforcement structure are arranged alternately.

[0011] Furthermore, the first rotating joint includes a bearing frame having a track plate, and the second reinforcement structure includes a reinforcement plate extending from the middle portion to the frame portion and a tripod placed on the track plate for supporting the reinforcement plate.

[0012] Furthermore, the tripod is provided with a ball bearing structure, and the track plate has a track on which the ball bearing structure can slide.

[0013] Furthermore, a permanent magnet is provided on the tripod, and an electromagnet is installed on the track plate. The electromagnet is energized to generate a magnetic field, and a magnetic field force is applied to the permanent magnet to drive the support arm to rotate.

[0014] Furthermore, the main arm has a fixing portion, the bearing frame is fixed to the fixing portion, the first rotation joint further includes a first driver fixed to the bearing frame, and the support arm is driven to rotate by the first driver.

[0015] Furthermore, the bearing frame includes a bottom and a boss mounted on the fixing portion, and the boss and the track plate are respectively protruded from two opposite sides of the bottom, so that the bearing frame and the first driver are located on the same side of the main arm as the support arm.

[0016] Furthermore, the main arm has a fixed part, and the first rotation joint includes a bearing frame fixed to the fixed part and a first driver accommodated in the bearing frame and used to drive the support arm to rotate, and the bearing frame and the first driver are respectively located on two opposite sides of the main arm with the support arm.

[0017] Furthermore, the fixing portion has a mounting hole, and the supporting frame includes a boss mounted on the mounting hole, a bottom located on another side of the main arm opposite to the side where the support arm is located, and a vertical wall connected between the bottom and the boss.

[0018] Furthermore, the first rotation joint also includes a bearing frame fixed to the bottom and a first bearing located between the mounting portion and the bearing frame.

[0019] Furthermore, the bearing frame includes a first bearing seat, the first bearing seat is provided with a through hole for placing the first bearing, and the mounting portion is provided with a protruding column that passes through the through hole and is fixed to the first driver, and a receiving groove that is provided to receive the first bearing.

[0020] Furthermore, the bearing frame also includes supporting legs extending from the first bearing seat and fixed to the bottom, and the first driver is located between the supporting legs.

[0021] Furthermore, the robotic arm also includes a second rotation joint fixed to the frame.

[0022] Furthermore, the second rotation joint includes a frame fixed to the frame and a second driver accommodated in the frame, and the robot arm also includes a support plate driven to rotate by the second driver.

[0023] Furthermore, the frame, the second driver and the support plate are located on the same side of the support arm.

[0024] Furthermore, the frame includes a second bearing seat, the support plate includes a sleeve shaft, and the second rotation joint also includes a second bearing located between the second bearing seat and the sleeve shaft.

[0025] Furthermore, the second bearing seat is provided with a through hole for placing the second bearing, and the support plate is provided with a placement groove for embedding the second bearing around the sleeve shaft.

[0026] Furthermore, the frame portion is provided with a through hole, and the sleeve shaft of the support plate passes through the through hole and the through hole to be fixed to the second driver. The frame also includes a frame for accommodating the second driver, and the frame passes through the through hole so that the second driver and the second bearing seat and the support plate are respectively located on two opposite sides of the support arm.

[0027] The support arm of the robot arm of the present invention has a reinforced structure, which improves the support stability of the robot arm and can meet the requirements of surgical accuracy. In addition, the support arm can be flexibly rotated relative to the main arm by using the first rotating joint, which is convenient for adjustment. BRIEF DESCRIPTION OF THE DRAWINGS

[0028] Figure 1 FIG. 4 is an exploded schematic diagram of a robotic arm according to a first embodiment of the present invention.

[0029] Figure 2 for Figure 1 An enlarged schematic diagram of the support arm in FIG.

[0030] Figure 3 for Figure 1 Another enlarged schematic diagram of the support arm in FIG.

[0031] Figure 4 for Figure 1 3D assembly diagram.

[0032] Figure 5 FIG. 4 is an exploded schematic diagram of a robotic arm according to a second embodiment of the present invention.

[0033] Figure 6 for Figure 5 3D assembly diagram. DETAILED DESCRIPTION

[0034] In order to make the purpose, technical solution and advantages of the present invention more clearly understood, the present invention is further described in detail below in conjunction with the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are only used to explain the present invention and are not used to limit the present invention.

[0035] In the description of the present invention, the term "proximal end" refers to the end close to the operator, and the term "distal end" refers to the end away from the operator; the terms "delivery", "push", "advance", "pull" or "drag" refer to the process of moving from a place away from the operator toward a place near the operator, and the terms "withdrawal" or "backward" refer to the process of moving from a place close to the operator toward a place away from the operator, and the terms "horizontal", "vertical", "up", "down", "left", "right", "inside", "outside", "between", "between" and the like indicate directions or positional relationships based on the directions or positional relationships shown in the accompanying drawings, which are only for the convenience of describing the present invention and simplifying the description, and do not indicate or imply that the referred device or element must have a specific orientation, be constructed and operated in a specific orientation, and therefore should not be understood as limiting the present invention. Unless otherwise clearly specified and limited, the terms "connect", "connected", "fixed", "installed", etc. should be understood in a broad sense. For example, it can be a fixed connection, a detachable connection (such as a screw connection), or an integral connection; it can be a mechanical connection, an electrical connection, or a magnetic connection; it can be a direct connection, or an indirect connection through an intermediate medium, and it can be the internal connection of two elements or the interaction relationship between two elements. For ordinary technicians in this field, the specific meanings of the above terms in the present invention can be understood according to specific circumstances.

[0036] In addition, the terms "first", "second", etc. are used for descriptive purposes only and should not be understood as indicating or implying relative importance or implicitly indicating the number of the indicated technical features. Thus, a feature defined as "first", "second", etc. may explicitly or implicitly include one or more of the features. In the description of the present invention, "multiple" means more than one, unless otherwise clearly and specifically defined.

[0037] Finally, it should be noted that, if there is no conflict, the embodiments of the present invention and the various features in the embodiments can be combined with each other, all within the protection scope of the present invention.

[0038] Please refer to Figure 1-4 , which is a mechanical arm disclosed in the first embodiment of the present invention. The mechanical arm includes a main arm 10, at least one branch arm 20, a first rotation joint 30 for rotatably mounting the branch arm 20 on the main arm 10, a support plate 40, and a second rotation joint 50 for rotatably mounting the support plate 40 on the branch arm 20.

[0039] The main arm 10 includes a main body 12 and a fixing portion 14, and the fixing portion 14 is provided with a mounting hole 16. In this embodiment, the fixing portion 14 is in the form of a circular ring, and the mounting hole 16 is a circular stepped hole.

[0040] The support arm 20 is an elongated plate member, which includes a mounting portion 22, a frame portion 24, and a middle portion 26 connecting the mounting portion 22 and the frame portion 24. The mounting portion 22 is provided with a boss 23, and a receiving groove 25 is provided around the boss 23. The frame portion 24 is provided with a through hole 27. The support arm 20 also includes a first reinforcement structure 28 and a second reinforcement structure 29 respectively provided on two opposite sides. In this embodiment, the first reinforcement structure 28 includes a plurality of reinforcement ribs provided on the middle portion 26, and the second reinforcement structure 29 includes a plurality of reinforcement ribs extending from the middle portion 26 to the frame portion 24, and perpendicular to or intersecting with the extension direction of the reinforcement ribs of the first reinforcement structure 28, that is, staggered. The boss 23 and the receiving groove 25 of the mounting portion 22 and the second reinforcement structure 29 are located on the same side of the support arm 20.

[0041] The first rotating joint 30 includes a bearing frame 32, a first driver, a bearing frame 36, and a first bearing 38. The bearing frame 32 can be placed in the mounting hole 16 of the main arm 10 to accommodate the first driver and the bearing frame 36. The bearing frame 32 includes a bottom 31, a boss 33 corresponding to the step installation of the mounting hole 16, and a vertical wall 35 connected between the bottom 31 and the boss 33. In this embodiment, the first driver is a motor 34. The bearing frame 36 includes a first bearing seat 37 protruding from the boss 33 of the bearing frame 32 and two legs 39 extending from the first bearing seat 37 and fixed to the bottom 31 of the bearing frame 32. The first bearing seat 37 is provided with a through hole 371 for the boss 23 of the support arm 20 to pass through and be fixed to the output shaft of the motor 34. In this embodiment, the first bearing 38 is a plane thrust bearing, and the through hole 371 is a step hole to facilitate the placement of the first bearing 38. At the same time, the first bearing 38 is embedded in the receiving groove 25 around the boss 23, so that the support arm 20 can be better supported and rotate smoothly.

[0042] The support plate 40 is used to install a surgical execution device or a surgical robot, specifically referring to a surgical execution device and a surgical robot having the surgical execution device described in Chinese patent application 202310237481.7, a surgical execution module and a surgical robot described in 202310565522.5, and a surgical robot delivery module described in 202310460639.7, all of which are introduced into the present invention. The support plate 40 includes a sleeve shaft 42 and a placement groove 44 opened around the sleeve shaft 42.

[0043] The second rotating joint 50 includes a frame 52, a second driver, and a second bearing 58. In this embodiment, the second driver is a motor 54. The frame 52 includes a frame 55 for accommodating the motor 54 and a second bearing seat 56 provided on the frame 55. The second bearing seat 56 is provided with a through hole 57 for the sleeve shaft 42 of the support plate 40 to pass through and be fixed to the output shaft of the motor 54. In this embodiment, the second bearing 58 is a plane thrust bearing, and the through hole 57 is a stepped hole to facilitate the placement of the second bearing 58. At the same time, the second bearing 58 is embedded in the placement groove 44 around the sleeve shaft 42, so that the support plate 40 can be better supported and rotate smoothly.

[0044] In this embodiment, the boss 33 of the bearing frame 32 is mounted on the fixed portion 14 of the main arm 10, and its bottom 31 and the vertical wall 35 are set to pass through the mounting hole 16 of the fixed portion 14. The motor 34 is mounted on the bottom 31 of the bearing frame 32 and is located between the two legs 39 of the bearing frame 36. Specifically, the motor 34 is installed at a position deviated from the end of the fixed portion 14, that is, close to the physical direction of the fixed portion 14 (the rotation center of the motor 34 driving the support arm 20 to rotate is deviated from the center of the mounting hole 16 of the fixed portion 14), so that the mounting portion 22 and the middle portion 26 of the support arm 20 (that is, most of the support arm 20) overlap on the fixed portion 14 to shorten the length of the robot arm. That is, by sinking the support frame 32 and utilizing the rising design of the bearing frame 36 to allow the first bearing seat 37 to protrude from the boss 33 of the support frame 32, the support arm 20 can be installed, so that the motor 34 and the support arm 20 are respectively located on two opposite sides of the fixing portion 14 of the main arm 10, so that the support arm 20 can be installed closer to the main arm 10 and rotate relatively.

[0045] In this embodiment, the second bearing seat 56 of the frame 52 is fixed to the frame 24 of the support arm 20, and the frame 55 for fixing the motor 54 is lowered through the through hole 27 of the frame 24. The sleeve shaft 42 of the support plate 40 is fixed to the output shaft of the motor 54 through the through hole 57 and the through hole 27 of the second bearing seat 56, so that the motor 54 and the support plate 40 are respectively located on two opposite sides of the support arm 20, so that the support plate 40 is installed closer to the support arm 20 and rotates relatively, and the rotation plane where the support plate 40 is located is parallel to the rotation plane where the support arm 20 is located.

[0046] In this embodiment, the motor 34 and the motor 54 may include a damping shaft or a reducer, and cannot rotate even with a large torque in the non-powered state, i.e., the locked state, to ensure stable positioning; when powered, they can rotate to a suitable position. Moreover, the motor 34 and the motor 54 are both located on the same side of the support arm 20, so that the support plate 40 is also closer to the fixing portion 14 of the main arm 10.

[0047] In summary, the robotic arm not only includes a main arm 10, but also includes a support arm 20 rotatably mounted on the main arm 10 and a support plate 40 rotatably mounted on the support arm 20, which provides a surgical execution device or a surgical robot mounted on the support plate 40 with multiple degrees of freedom, allowing the surgeon to adjust the robotic arm very flexibly, and in view of the settlement design of the supporting frame 32 and the frame 52, the support plate 40 is installed closer to the support arm 20, and the support arm 20 is installed overlapping with the main arm 10, that is, the support arm 20 is closer to the main arm 10, thereby reducing the overall height and length of the robotic arm and making its structure more compact.

[0048] Please refer to Figure 5 and Figure 6 , which is a mechanical arm disclosed in the second embodiment of the present invention. The mechanical arm comprises a main arm 10', at least one branch arm 20', a first rotation joint 30' rotatably mounting the branch arm 20' on the main arm 10', a support plate 40', and a second rotation joint 50' rotatably mounting the support plate 40' on the branch arm 20'.

[0049] The main arm 10' is the same as the main arm 10 of the first embodiment. The support arm 20' is an elongated plate, which includes a mounting portion 22', a frame portion 24' and a middle portion 26' connecting the mounting portion 22' and the frame portion 24'. The mounting portion 22' is the same as the mounting portion 22 of the first embodiment. The frame portion 24' is a solid portion. The support arm 20' also includes a first reinforcement structure 28' and a second reinforcement structure 29' respectively arranged on two opposite sides. In this embodiment, the first reinforcement structure 28' includes a plurality of reinforcement ribs arranged on the middle portion 26', and the second reinforcement structure 29' includes a reinforcement plate 291' and a tripod 293' fixed to the reinforcement plate 291', and the reinforcement plate 291' extends from the middle portion 26' to the frame portion 24', and is perpendicular to or intersecting with the extension direction of the reinforcement ribs of the first reinforcement structure 28', that is, staggered. The boss 23' and the receiving groove 25' of the mounting portion 22' are located on the same side of the support arm 20' as the second reinforcement structure 29'. A ball structure 295' is disposed at the bottom of the tripod 293'.

[0050] The first rotating joint 30′ includes a bearing frame 32′, a first driver 34′, a bearing frame 36′, and a first bearing 38′. The bearing frame 32′ includes a bottom 31′, a boss 33′ mounted on the step of the mounting hole 16′, and a track plate 35′. The boss 33′ and the track plate 35′ are respectively protruded from two opposite sides of the bottom 31′ and are arranged parallel to each other. The track plate 35′ can be either fan-shaped or circular. In this embodiment, the track plate 35′ carries a ball structure 295′, which has a circular track 355′ that allows the ball structure 295′ to slide. The first driver 34′, the bearing frame 36′, and the first bearing 38′ are basically the same as the first driver, the bearing frame 36, and the first bearing 38 of the first embodiment.

[0051] The support plate 40' is substantially the same as the support plate 40 of the first embodiment, and includes a sleeve shaft 42' and a placement groove 44' opened around the sleeve shaft 42'. The second rotation joint 50' includes a frame 52', a second driver 54', and a second bearing 58'. The frame 52' includes a frame 55' for mounting the second driver 54' and a second bearing seat 56' fixed to the frame 55'. The second driver 54' and the second bearing 58' are substantially the same as the second driver and the second bearing 58 of the first embodiment.

[0052] In this embodiment, the boss 33′ of the bearing frame 32′ is mounted on the fixed portion 14′ of the main arm 10′, and the track plate 35′ is located on the fixed portion 14′ of the main arm 10′. The first driver 34′ is mounted on the side of the bottom 31′ where the track plate 35′ is provided, and the bearing frame 36′ is also fixed to the side of the bottom 31′, so that the first driver 34′ is located between the two legs 39′ of the bearing frame 36′. That is, the track plate 35′, the first driver 34′, the bearing frame 36′ and the support arm 20′ are all located on the same side above the fixed portion 14′ of the main arm 10′, and are supported by the tripod 293′ of the second reinforcement structure 29′. When the first driver 34′ is in operation, it drives the boss 23′ of the support arm 20′ fixed to the first driver 34′ to rotate, so that the support arm 20′ rotates relatively on the main arm 10′. The first bearing 38' is a plane thrust bearing, and the through hole 371' is a stepped hole to facilitate the insertion of the first bearing 38'. At the same time, the first bearing 38' is embedded in the receiving groove 25' around the protruding column 23', so that the support arm 20' can be firmly supported while rotating, and the rotation is smoother.

[0053] In this embodiment, the frame 55' for fixing the second driver 54' is installed on the frame portion 24' of the support arm 20', and the sleeve shaft 42' of the support plate 40' passes through the through hole 57' of the second bearing seat 56' and is fixed to the second driver 54', so that the frame 52', the second driver 54' and the support plate 40' are all located on the side of the support arm 20' where the first reinforcement structure 28' is provided. When the second driver 54' is in operation, the sleeve shaft 42' of the support plate 40' fixed to the second driver 54' is driven to rotate, so that the support plate 40' is relatively rotated on the support arm 20', and the rotation plane where the support plate 40' is located is parallel to the rotation plane where the support arm 20' is located. The second bearing 58' is a plane thrust bearing, and the through hole 57' is a stepped hole to facilitate the placement of the second bearing 58'. At the same time, the second bearing 58' is embedded in the placement groove 44' around the sleeve shaft 42', so that the support plate 40' is stably supported while rotating, and the rotation is smoother.

[0054] The robot arm can also provide multiple degrees of freedom, and the tripod 293' of the second reinforcement structure 29' of the support arm 20' can be slidably supported on the track plate 35' of the bearing frame 32' of the first rotating joint 30', thereby improving the support stability of the robot arm.

[0055] In other embodiments, in addition to using the first driver 34' to drive the support arm 20' to rotate, the principle of opposite poles attracting each other and like poles repelling each other can also be used to achieve this. Specifically, a permanent magnet is provided at the bottom of the tripod 293' of the support arm 20', and the first rotating joint 30' includes a bearing frame 32', a bearing frame 36' and a first bearing 38'. An electromagnet is installed on the track plate 35' of the bearing frame 32', and the electromagnet is energized to generate a magnetic field, and a magnetic field force is applied to the permanent magnet to drive the support arm 20' to rotate. In this way, the first driver 34' can be replaced to drive the support arm 20' to rotate. Preferably, two electromagnets can be installed on the track plate 35' of the bearing frame 32', respectively located on both sides of the bottom of the tripod 293'. When the magnetic field forces generated by the two electromagnets are equal in magnitude but different in direction, the support arm 20' is fixed; when the magnetic field forces generated by the two electromagnets are in the same direction or different in direction but different in magnitude, the support arm 20' can be driven to rotate. Of course, other magnetic coupling forces may also be used as long as they can drive the support arm 20' to rotate.

[0056] In addition, the robotic arm may include a plurality of arms, each of which is rotatably mounted on the main arm by a first rotating joint, and a support plate is rotatably mounted on the arm by a second rotating joint, and a surgical execution device or a surgical robot is mounted on each support plate to form a modular surgical platform. For details, refer to a surgical robot modular platform described in Chinese patent application 202310185895.X.

[0057] The above-mentioned embodiments only express limited implementation methods of the present invention, and the description thereof is relatively specific and detailed, but it cannot be understood as limiting the scope of the patent of the present invention. It should be pointed out that, for ordinary technicians in this field, several modifications and improvements or deteriorations can be made without departing from the concept of the present invention. For example, the driver in the present invention can also be a steering gear, a stepper motor, a servo motor or a motor, etc., which all belong to the protection scope of the present invention. Therefore, the protection scope of the patent of the present invention shall be based on the claims.

Claims

1. A robotic arm, characterized in that: The mechanical arm comprises a main arm, at least one branch arm, and the branch arm is rotatably mounted on a first rotating joint of the main arm. A reinforcing structure is provided from the first rotating joint to the end of the branch arm.

2. A robotic arm as claimed in claim 1, characterized in that: The first rotation joint is mounted on a first end of the support arm, and the reinforcement structure extends from the first end of the support arm to an opposite second end.

3. A robotic arm as claimed in claim 2, characterized in that: The support arm includes a mounting portion formed at the first end, a frame portion formed at the second end, and a middle portion connecting the mounting portion and the frame portion, and the reinforcement structure includes a first reinforcement structure protruding from the middle portion.

4. A robotic arm as claimed in claim 3, characterized in that: The reinforcement structure further includes a second reinforcement structure extending from the middle portion to the frame portion.

5. A robotic arm as claimed in claim 4, characterized in that: The first reinforcement structure and the second reinforcement structure are respectively located on two opposite sides of the support arm.

6. A robotic arm as claimed in claim 5, characterized in that: The first reinforcement structure is located on a side of the support arm away from the main arm, and the second reinforcement structure is located on a side of the support arm close to the main arm.

7. A robotic arm as claimed in claim 5, characterized in that: The first reinforcement structure and the second reinforcement structure are arranged alternately.

8. A robotic arm as claimed in claim 6, characterized in that: The first rotating joint includes a bearing frame having a track plate, and the second reinforcing structure includes a reinforcing plate extending from the middle portion to the frame portion and a tripod placed on the track plate for supporting the reinforcing plate.

9. A robotic arm as claimed in claim 8, characterized in that: The tripod is provided with a ball structure, and the track plate has a track on which the ball structure can slide.

10. A robotic arm as claimed in claim 8, characterized in that: A permanent magnet is arranged on the tripod, and an electromagnet is installed on the track plate. The electromagnet is energized to generate a magnetic field, and a magnetic field force is applied to the permanent magnet to drive the support arm to rotate.

11. A robotic arm as claimed in claim 8, characterized in that: The main arm has a fixing portion, the bearing frame is fixed to the fixing portion, the first rotating joint further comprises a first driver fixed to the bearing frame, and the support arm is driven to rotate by the first driver.

12. A robotic arm according to claim 11, characterized in that: The bearing frame includes a bottom and a boss mounted on the fixing portion, the boss and the track plate are respectively protruded on two opposite sides of the bottom, so that the bearing frame and the first driver are located on the same side of the main arm as the support arm.

13. A robotic arm as claimed in claim 6, characterized in that: The main arm has a fixed part, and the first rotating joint includes a bearing frame fixed to the fixed part and a first driver accommodated in the bearing frame and used to drive the support arm to rotate. The bearing frame and the first driver are respectively located on two opposite sides of the main arm with the support arm.

14. A mechanical arm as claimed in claim 13, characterized in that: The fixing portion has a mounting hole, and the bearing frame includes a boss mounted on the mounting hole, a bottom located on another side surface of the main arm opposite to the side surface where the support arm is located, and a vertical wall connected between the bottom and the boss.

15. A mechanical arm according to claim 12 or 14, characterized in that: The first rotating joint further includes a bearing frame fixed to the bottom and a first bearing located between the mounting portion and the bearing frame.

16. A mechanical arm according to claim 15, characterized in that: The bearing frame includes a first bearing seat, the first bearing seat is provided with a through hole for placing the first bearing, and the mounting portion is provided with a protruding column that passes through the through hole and is fixed to the first driver, and a receiving groove that is provided to receive the first bearing.

17. A robotic arm as claimed in claim 16, characterized in that: The bearing frame also includes legs extending from the first bearing seat and fixed to the bottom, and the first driver is located between the legs.

18. A robotic arm as claimed in claim 3, characterized in that: The mechanical arm also includes a second rotation joint fixed to the frame.

19. A robotic arm as claimed in claim 18, characterized in that: The second rotating joint includes a frame fixed to the frame and a second driver accommodated in the frame, and the robot arm also includes a supporting plate driven to rotate by the second driver.

20. A mechanical arm as claimed in claim 19, characterized in that: The frame, the second drive and the support plate are located on the same side of the support arm.

21. A mechanical arm as claimed in claim 19, characterized in that: The frame includes a second bearing seat, the support plate includes a sleeve shaft, and the second rotation joint also includes a second bearing located between the second bearing seat and the sleeve shaft.

22. A robotic arm as claimed in claim 21, characterized in that: The second bearing seat is provided with a through hole for placing the second bearing, and the support plate is provided with a placement groove for embedding the second bearing around the sleeve shaft.

23. A robotic arm as claimed in claim 22, characterized in that: The frame portion has a through hole, and the sleeve shaft of the support plate passes through the through hole and the through hole to be fixed to the second driver. The rack also includes a frame for accommodating the second driver, and the frame passes through the through hole so that the second driver and the second bearing seat and the support plate are respectively located on two opposite sides of the support arm.

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