Torque mechanical arm convenient to maintain

Abstract

The invention relates to the technical field of mechanical arms, in particular to a torque mechanical arm convenient to maintain, which comprises a machine arm main body, a joint assembly, a speed reduction transmission assembly, a driving motor and a joint seat, the joint assembly is quickly connected and disassembled through driving of a transmission ring, a clamping lug plate and a steering engine, and equipment is convenient to maintain and replace; the speed reduction transmission assembly adopts a harmonic transmission technology, so that the mechanical loss is effectively reduced, and the stability and high precision of torque transmission are ensured; the driving motor and the speed reduction transmission assembly work cooperatively, efficient power output is provided, and the torque requirements of different load requirements are met. The device is simple in structure, powerful in function, widely applicable to automatic production lines with high-load and high-precision requirements, high in reliability and easy to maintain.

Description

Technical Field

[0001] The present invention relates to the technical field of mechanical arms, in particular to a torque mechanical arm which is easy to maintain. Background Art

[0002] With the continuous development of automation technology, robotic arms are widely used in industrial production, automated assembly, precision operation and other fields. The functional requirements of robotic arms have become more efficient and reliable as the complexity and precision of tasks increase. In the design of robotic arms, how to achieve fast and stable connection and disassembly, and how to ensure stable performance in a high-load and high-precision working environment have become technical problems that need to be solved in the design process.

[0003] The connection method of traditional robotic arms usually relies on manual operation or complex mechanical structures. The disassembly and maintenance process is cumbersome, time-consuming and costly, resulting in a long maintenance cycle for the equipment, which affects production efficiency. In addition, when the existing robotic arm drive system and transmission device are subjected to large loads, there are often problems such as low transmission efficiency and large mechanical losses, which affects the stability and accuracy of power transmission and limits the use of robotic arms in high-load or high-precision application scenarios.

[0004] In order to solve these problems, more and more robot arm designs have begun to focus on how to achieve more efficient and convenient connection and disassembly methods, as well as how to improve the stability and transmission efficiency of the transmission system. In particular, how to reduce mechanical losses and improve transmission efficiency through innovative reduction transmission technology to ensure efficient and precise operation of the robot arm in various working environments has become an important research direction for robot arm design.

[0005] Based on the deficiencies of the prior art, the present invention proposes a torque robot arm that is easy to maintain. By adopting a unique coupling assembly and a reduction transmission system, the robot arm has the advantages of quick disassembly and assembly, low loss, and high-precision transmission, solving the problems of difficult maintenance and low transmission efficiency in the prior art. It also has good adaptability and can meet the needs of different industrial applications. Summary of the invention

[0006] The invention relates to a torque mechanical arm which is easy to maintain, in particular to a highly efficient, stable and easy-to-maintain mechanical arm which is applied in the field of industrial automation.

[0007] A torque mechanical arm that is easy to maintain, comprising: an arm body, a joint assembly, a reduction transmission assembly, a drive motor, and a joint seat rotatably mounted on one end of the arm body, a shaft head piece rotatably mounted on the inner side of the joint seat, and a plane bearing fixedly mounted on the surface of the shaft head piece, and one side of the shaft head piece and the plane bearing are fixedly connected to the surface of the arm body; The engagement assembly comprises a transmission ring, a clamping ear plate and a steering gear fixedly mounted on the inner side of the transmission ring, the transmission ring is rotatably mounted on the inner side of the arm body, and the surface of the transmission ring is provided with transmission teeth that are transmission-engaged with the output end of the steering gear, the surface of the transmission ring is provided with a plurality of synaptic ears, one end of the clamping ear plate is provided with an abutting ear for abutting with the surface of the synaptic ear, the other end of the clamping ear plate is provided with a clamping ball, and the surface of the arm body is provided with an engagement groove that matches the clamping ball; The reduction transmission assembly includes a moving disc seat, a harmonic wheel, an output ring and an input shaft fixed to the output end of the driving motor. A bearing is provided on the inner side of the harmonic wheel and is rotatably sleeved on the surface of the input shaft. The center of the outer circumference of the harmonic wheel deviates from the axis of the input shaft. A harmonic groove is provided on the inner side of the moving disc seat. A plurality of meshing grooves are provided on the surface of the output ring, and a ball is provided on the inner side of each meshing groove. Both sides of the ball are respectively in sliding contact with the outer circumference of the harmonic wheel and the inner side of the harmonic groove.

[0008] Preferably, the outer periphery of the shaft head piece is provided with a bearing ball that is in sliding contact with the inner side of the engagement seat, one side of the shaft head piece is provided with an engagement ring, and the surface of the reduction transmission assembly is provided with a slot that is compatible with the engagement ring.

[0009] Preferably, the plane bearing is used for rotational connection between the arm body and the end of the engagement seat, and the end of the shaft head member passes through the plane bearing and is fixedly connected to the inner side of the arm body.

[0010] Preferably, the surface of the clamping ear plate is provided with a fulcrum axis located on the surface of the arm body, and the fulcrum axis is close to one end of the ear, and the ear and the clamping ball are located at both ends of the clamping ear plate for axial deflection movement of the ear.

[0011] Preferably, the surface of the synaptic ear is in the shape of an oblique arc surface, and the synaptic ear is arranged tangentially along the surface of the transmission ring, and the surface of the synaptic ear is provided with a friction ridge that abuts against the surface of the abutting ear.

[0012] Preferably, the harmonic groove is corrugated, and the relative cooperation and sliding structure of the harmonic groove, the harmonic wheel and the output ring can achieve a high-precision deceleration effect, ensure that the desired output speed is achieved during the transmission process, and maintain a high transmission efficiency.

[0013] Preferably, a touch switch is provided on one side of the arm body, and the output end of the touch switch is electrically connected to a control panel for controlling a steering gear, so as to automatically control the operation of the steering gear during assembly of the mechanical arm.

[0014] Preferably, the arm body and the engaging seat are cylindrical structures, and a plurality of the clamping ear plates are arranged on the outer periphery of the arm body in a circular motion, so that the arm body and the engaging seat are automatically centered and connected during the operation of the clamping ear plates.

[0015] The robot arm can achieve high-precision and high-stability motion control through innovative structural design and reasonable functional configuration, and is easy to disassemble and repair during use. The robot arm of the present invention has a simple structure and can effectively prevent the equipment from being worn out during long-term use, while extending the service life of the equipment and reducing maintenance costs. The following is a detailed technical solution and innovative points of the present invention.

[0016] The arm body of the torque mechanical arm of the present invention adopts a cylindrical structure, one end of which is connected to the joint seat through a plane bearing. A shaft head is provided inside the joint seat, and a bearing ball is provided on the outer periphery of the shaft head. The bearing ball slides against the inside of the joint seat to ensure smooth rotation between the arm body and the joint seat. This structure enables the mechanical arm to withstand a large workload and ensures the stability and durability of the rotation.

[0017] A coupling ring is provided on one side of the coupling seat, and the coupling ring cooperates with the slot on the reduction transmission assembly. During the connection and disassembly process of the robot arm, the cooperation between the coupling ring and the slot can ensure the stable connection of the robot arm. Through this connection method, the robot arm can not only easily complete automatic connection and disassembly, but also maintain good working performance under high load.

[0018] The joint assembly includes a transmission ring, a clamping lug plate and a servo. The transmission ring is rotatably mounted on the inner side of the arm body, and the surface of the transmission ring is provided with transmission teeth that mesh with the output end of the servo. The servo drives the transmission ring to rotate and completes the automatic connection and disassembly of the mechanical arm.

[0019] A fulcrum shaft is provided at one end of the clamping plate, and the fulcrum shaft is close to one end of the abutment ear. The design of the fulcrum shaft ensures that the clamping plate can deflect stably. The clamping abutment ball at the other end of the clamping plate contacts the surface of the engagement seat to achieve the quick connection of the mechanical arm. When the steering gear drives the transmission ring to rotate, the clamping plate deflects, thereby achieving the connection or separation of the mechanical arm.

[0020] The transmission ring surface is provided with synaptic ears, which are in the shape of oblique arcs and arranged tangentially along the transmission ring surface. The synaptic ears form frictional contact with the ears on the clamping ear plate to ensure the stability of the robot arm when connected, reduce sliding friction, and improve the working reliability of the robot arm.

[0021] The reduction transmission assembly includes a moving plate seat, a harmonic wheel, an output ring and an input shaft. The input shaft is driven by a drive motor. When the input shaft rotates at high speed, the interaction between the harmonic wheel and the moving plate seat enables the output ring to achieve low-speed stable rotation. The design of the reduction transmission assembly can effectively reduce the mechanical loss generated during the transmission process and ensure the smoothness and high efficiency of the output.

[0022] The outer periphery of the harmonic wheel deviates from the axis of the input shaft, and achieves low-speed output by sliding with the ball in the harmonic groove. A corrugated harmonic groove is opened on the inner side of the moving plate seat, and a plurality of meshing grooves are provided on the surface of the output ring. Balls are arranged in the meshing grooves. The two sides of the ball slide and abut against the outer periphery of the harmonic wheel and the inner side of the harmonic groove respectively, achieving a high-precision deceleration effect. This design ensures the transmission efficiency and stability of the robot arm.

[0023] The drive motor is connected to the reduction transmission assembly through the input shaft and provides efficient power output. The motor control system is used in conjunction with the touch switch, which can automatically control the operation of the servo, thereby realizing the automatic connection and removal of the robot arm. The touch switch will send a signal to the control panel, and during the connection process of the robot arm, the servo will automatically adjust the angle of the clamping ear plate to achieve stable connection and separation of the robot arm.

[0024] The torque mechanical arm of the present invention has the function of automatic connection and disassembly. The steering gear drives the transmission ring to rotate, thereby driving the clamping ear plate to deflect axially, and the clamping ear plate is in contact with the joint seat, so that the connection of the mechanical arm is quickly completed. When disassembly is required, the clamping ear plate is restored to its original position through the reverse drive of the steering gear, and the clamping ball is separated from the joint seat, so that the mechanical arm is separated. This design reduces manual intervention and improves production efficiency.

[0025] The reduction transmission assembly used in the robot arm of the present invention has a high-precision transmission function, which can achieve smooth low-speed output and ensure the stability of the robot arm when working under high load. In addition, the components of the robot arm adopt a modular design, which is easy to disassemble and replace. During maintenance, the user only needs to disassemble and replace specific parts, avoiding complicated disassembly processes and reducing maintenance costs. Through this structural design, the torque robot arm of the present invention can maintain a low maintenance cost while operating efficiently, and is particularly suitable for scenarios with high-frequency operation and maintenance requirements such as automated production lines.

[0026] The mechanical arm of the present invention is also equipped with a touch switch and a steering gear control system, which realizes automatic control of the connection and removal of the mechanical arm without manual intervention. This automatic control system is very suitable for automated production lines, can reduce manual operations in production, reduce error rates, and improve work efficiency and accuracy.

[0027] The beneficial effects achieved by the present invention are: 1. In the present invention, the transmission ring, the clamping lug plate and the steering gear drive in the joint assembly can realize quick disassembly and assembly, which is convenient for maintenance and replacement. In particular, the structural design adopted by the joint assembly and the shaft head makes the disassembly and maintenance of the mechanical arm easier, reduces the workload of the operator, and improves the maintainability of the equipment.

[0028] 2. In the present invention, the mechanical loss in the transmission process is effectively controlled through the harmonic transmission structure of the reduction transmission component, ensuring the stability and high precision of torque transmission. This design can ensure that the robot arm can still operate stably in a working environment with high load and high precision requirements, thereby improving the overall reliability of the system.

[0029] 3. In the present invention, the drive motor and the reduction transmission assembly work together, and the harmonic transmission technology is used to reduce the rotation speed while maintaining a high transmission efficiency, ensuring efficient power output in various application scenarios and meeting the torque requirements of different loads. BRIEF DESCRIPTION OF THE DRAWINGS

[0030] Figure 1 It is a schematic diagram of the overall structure of an embodiment of the present invention; Figure 2 A schematic cross-sectional view of a joint state of an embodiment of the present invention; Figure 3 This is a schematic diagram of the structure of a shaft head, a reduction transmission assembly and a drive motor according to an embodiment of the present invention; Figure 4 A schematic diagram of the structure of a joint assembly according to an embodiment of the present invention; Figure 5 It is a schematic diagram of the exploded structure of a reduction transmission assembly according to an embodiment of the present invention; Figure 6 A schematic diagram of the surface structure of a transmission ring according to an embodiment of the present invention; Figure 7 The figure is a schematic diagram of the surface structure of the ear clamping plate according to an embodiment of the present invention.

[0031] Reference numerals: 100, machine arm body; 110, joint seat; 120, shaft head piece; 130, plane bearing; 121, bearing ball; 122, joint ring; 200, joint assembly; 210, transmission ring; 220, clamping ear plate; 230, servo; 211, synaptic ear; 212, transmission tooth; 221, abutment ear; 222, clamping abutment ball; 223, spring; 300, reduction transmission assembly; 310, moving plate seat; 320, harmonic wheel; 330, output ring; 340, input shaft; 311, harmonic groove; 331, meshing groove; 332, ball; 400. Driving motor. DETAILED DESCRIPTION

[0032] To make the purpose, technical solution and advantages of the present invention more clear, the present invention is further described in detail below in combination with specific implementations and with reference to the accompanying drawings. It should be noted that the embodiments of the present invention and the features in the embodiments can be combined with each other without conflict.

[0033] It is to be understood that these descriptions are exemplary only and are not intended to limit the scope of the invention.

[0034] The following is combined with Figures 1 to 7 A torque mechanical arm that is easy to maintain is described according to some embodiments of the present invention.

[0035] The present invention provides a torque manipulator that is easy to maintain. The structure of the manipulator is simple and powerful, and it can achieve efficient and reliable automatic connection and disassembly, and is easy to repair and replace. The technical solution includes the following main components: 1. Connection between the arm body 100 and the joint seat 110 The arm body 100 of the torque mechanical arm of the present invention is connected to the joint seat 110 by a plane bearing 130. A shaft head 120 is installed inside the joint seat 110, and a bearing ball 121 is arranged on the outer periphery of the shaft head 120. The bearing ball 121 is slidably abutted against the inside of the joint seat 110 to ensure the smooth rotation of the two parts. A joint ring 122 is arranged on one side of the joint seat 110, and the joint ring 122 cooperates with the slot on the reduction transmission assembly 300 to facilitate connection and disassembly.

[0036] Connection between the joint seat and the arm body: The arm body 100 and the joint seat 110 are cylindrical structures, wherein a plane bearing 130 is provided on the inner side of the arm body 100. The plane bearing 130 is rotatably connected to the end of the joint seat 110 to ensure the rotation performance of the two parts. The end of the shaft head 120 passes through the plane bearing 130 and is fixedly connected to the inner side of the arm body 100 to ensure smooth rotation.

[0037] 2. Joint assembly 200 structural design The joint assembly 200 includes a transmission ring 210, a clamping ear plate 220, and a steering gear 230 fixedly mounted on the inner side of the transmission ring 210. The transmission ring 210 is rotatably mounted on the inner side of the arm body 100, and a transmission tooth 212 is provided on the surface of the transmission ring 210 for transmission engagement with the output end of the steering gear 230. This design enables the transmission ring 210 to be driven by the steering gear 230 to achieve efficient rotation, thereby completing the automatic connection and disassembly of the mechanical arm.

[0038] A fulcrum shaft is provided at one end of the clamping plate 220, and the fulcrum shaft is close to one end of the abutment ear 221. The design of the fulcrum shaft ensures that the clamping plate 220 can stably deflect. The clamping abutment ball 222 at the other end of the clamping plate 220 contacts the surface of the engagement seat 110, which is used to quickly connect the mechanical arm. When the steering engine 230 drives the transmission ring 210 to rotate, the clamping plate 220 deflects, thereby connecting or disconnecting the mechanical arm.

[0039] The surface of the transmission ring 210 is provided with a plurality of synaptic ears 211, which are arranged tangentially along the surface of the transmission ring 210, and the surface of the synaptic ears is in the shape of an oblique arc surface. The surface of the synaptic ears 211 is also provided with friction ridges, which abut against the surface of the abutting ears 221 on the clamping ear plate 220 to ensure the stability of the robot arm during connection and reduce sliding friction.

[0040] 3. Design of reduction transmission assembly 300 The reduction transmission assembly 300 includes a moving plate seat 310, a harmonic wheel 320, an output ring 330 and an input shaft 340. The input shaft 340 is driven by a driving motor 400. When rotating at high speed, the interaction between the harmonic wheel 320 and the moving plate seat 310 enables the output ring 330 to achieve low-speed stable rotation.

[0041] The inner side of the harmonic wheel 320 is provided with a bearing and is rotatably sleeved on the surface of the input shaft 340. The outer circumference center of the harmonic wheel 320 deviates from the axis center of the input shaft 340, thereby realizing low-speed output during transmission. A corrugated harmonic groove 311 is opened on the inner side of the moving plate seat 310, and a plurality of meshing grooves 331 are provided on the surface of the output ring 330, and balls 332 are arranged in the meshing grooves 331. The two sides of the balls 332 are respectively slidably abutted against the outer circumference of the harmonic wheel 320 and the inner side of the harmonic groove 311, thereby realizing a high-precision deceleration effect.

[0042] 4. Drive motor 400 and control system The drive motor 400 is connected to the reduction transmission assembly 300 through the input shaft 340, and provides power through its output end. In this embodiment, the drive motor 400 adopts an efficient motor system, which can provide stable torque output under a high-load working environment. The motor control system is used in conjunction with a touch switch, and the control panel is triggered by the touch switch to automatically control the operation of the steering gear 230, thereby realizing automatic connection and disconnection of the mechanical arm.

[0043] 5. Automatic control and disassembly design The mechanical arm of the present invention uses a steering gear 230 to drive the transmission ring 210 to rotate, thereby realizing the deflection of the clamping ear plate 220. The clamping ear plate 220 clamps the clamping ball 222 and the surface of the joint seat 110 through deflection to realize the connection of the mechanical arm. Under the reverse drive of the steering gear 230, the clamping ear plate 220 returns to its original position, so that the clamping ball 222 is separated from the contact of the joint seat 110, and the separation of the mechanical arm is realized.

[0044] 6. Touch switch and servo control During the use of the robotic arm, the touch switch works in conjunction with the steering control system. The touch switch is used to detect the state of the robotic arm assembly. When the assembly conditions are met, the touch switch will send a signal to the control panel to automatically start the steering gear 230 and adjust the clamping ear plate 220, thereby completing the automatic connection and disassembly of the robotic arm. This automated design greatly improves the use efficiency of the robotic arm and reduces manual intervention.

[0045] The working principle and use process of the present invention: The present invention relates to a torque mechanical arm that is easy to maintain. By utilizing its precise structural design, the efficient assembly, precise docking and automatic locking of the mechanical arm are realized, thereby improving the convenience of operation and the efficiency of maintenance. The following is the detailed working principle of the present invention: 1. Initial positioning and assembly process of the template Before the assembly begins, the upper and lower mechanical arms are in a relatively coaxial state with the main arm body 100 and the joint seat 110. The joint assembly 200 is composed of a transmission ring 210, a clamping ear plate 220 and a steering gear 230, which are respectively mounted on the main arm body 100 and the joint seat 110, ready to work together during the joint process.

[0046] The two sections of the mechanical arms are docked by manual or mechanical equipment (such as a crane). In the docked state, the contact between the trigger switch on the surface of the arm body 100 and the joint seat 110 automatically controls the operation of the steering gear 230, drives the transmission ring 210 to rotate, and makes the transmission gear 212 engage with the output end of the steering gear 230 to achieve motion transmission. Then, the abutment ear 221 on the clamping ear plate 220 contacts the synaptic ear 211 and generates an axial force, causing the clamping ear plate 220 to deflect, and the other end of the clamping ear plate 220 cooperates with the joint groove on the surface of the arm body 100 through the clamping abutment ball 222, thereby achieving accurate connection of the two sections of the mechanical arms.

[0047] 2. Operation of the reduction transmission assembly 300 The reduction transmission assembly 300 is composed of a moving plate seat 310, a harmonic wheel 320, an output ring 330 and an input shaft 340. The driving motor 400 rotates through the input shaft 340, driving the harmonic wheel 320 to eccentrically move, and the harmonic oscillation of the harmonic wheel 320 causes the outer circle center to deviate, so that the ball 332 inside the harmonic groove 311 of the moving plate seat 310 rolls and slides with the surface of the harmonic wheel 320, forming a transmission effect.

[0048] In this process, the meshing groove 331 provided on the output ring 330 is combined with the ball 332 to realize the reduction transmission. The sliding fit of the ball 332 between the harmonic wheel 320 and the harmonic groove 311 ensures the smooth and accurate movement of the robot arm. The connection between the output ring 330 and the shaft head 120 transmits the output of the robot arm of this level to the robot arm of the next level.

[0049] The driving motor 400 drives the input shaft 340 to rotate at a high speed. During the rotation of the input shaft 340, the input shaft 340 realizes eccentric swing, and the abutment ball 332 slides against the inner side of the harmonic groove 311, thereby driving the output ring 330 to rotate at a low speed inside the moving disk seat 310. Under the meshing and plugging action of the shaft head component 120 and the reduction transmission assembly 300, the synchronous movement of the shaft head component 120 is realized, and the kinetic energy is output by the shaft head component 120 to realize the driving of the lower-level robot arm.

[0050] 3. Disassembly and resetting process of the robotic arm When the robotic arm needs to be disassembled, the servo 230 is manually controlled to reset and rotate the transmission ring 210, so that the synaptic ear 211 is disengaged from the abutment ear 221, and the spring 223 pushes the clamping ear plate 220 to deflect, so that the clamping abutment ball 222 is disengaged from the surface of the engagement seat 110 to unlock, and the two sections of the robotic arm can be quickly pulled out and separated, realizing rapid disassembly and assembly, which is convenient for maintenance.

[0051] Through the above steps, the present invention provides a torque robot arm that is efficient, easy to maintain and precisely docked, which can reduce manual intervention in automated operations and ensure the stability and reliability of the robot arm during use.

[0052] In the description of this specification, the description of the terms "one embodiment", "some embodiments", "specific embodiments", etc. means that the specific features, structures, materials or characteristics described in conjunction with the embodiment or example are included in at least one embodiment or example of the present invention. In this specification, the schematic representation of the above terms does not necessarily refer to the same embodiment or example. Moreover, the specific features, structures, materials or characteristics described can be combined in any one or more embodiments or examples in a suitable manner.

[0053] Although the embodiments of the present invention have been shown and described, it will be appreciated by those skilled in the art that various changes, modifications, substitutions and variations may be made to the embodiments without departing from the principles and spirit of the present invention, and that the scope of the present invention is defined by the claims and their equivalents.

Claims

1. A torque mechanical arm that is easy to maintain, characterized in that: include: An arm body (100), a joint assembly (200), a reduction transmission assembly (300), a drive motor (400), and a joint seat (110) rotatably mounted on one end of the arm body (100); a shaft head piece (120) is rotatably mounted on the inner side of the joint seat (110); a plane bearing (130) is fixedly mounted on the surface of the shaft head piece (120); and one side of the shaft head piece (120) and the plane bearing (130) is fixedly connected to the surface of the arm body (100); The engagement assembly (200) comprises a transmission ring (210), a clamping ear plate (220), and a steering gear (230) fixedly mounted on the inner side of the transmission ring (210); the transmission ring (210) is rotatably mounted on the inner side of the machine arm body (100); a transmission tooth (212) for transmission meshing with an output end of the steering gear (230) is provided on the surface of the transmission ring (210); a plurality of synaptic ears (211) are provided on the surface of the transmission ring (210); an abutting ear (221) for abutting against the surface of the synaptic ear (211) is provided at one end of the clamping ear plate (220); a clamping abutting ball (222) is provided at the other end of the clamping ear plate (220); and a coupling groove matching the clamping abutting ball (222) is provided on the surface of the machine arm body (100).

2. A torque mechanical arm that is easy to maintain according to claim 1, characterized in that: The outer periphery of the shaft head component (120) is provided with a bearing bead (121) that is in sliding contact with the inner side of the engagement seat (110); one side of the shaft head component (120) is provided with an engagement ring (122); and the surface of the reduction transmission assembly (300) is provided with a slot that matches the engagement ring (122).

3. The torque mechanical arm easy to maintain according to claim 1, characterized in that: The plane bearing (130) is used for rotational connection between the machine arm body (100) and the end of the engagement seat (110); the end of the shaft head piece (120) passes through the plane bearing (130) and is fixedly connected to the inner side of the machine arm body (100).

4. The torque mechanical arm easy to maintain according to claim 1, characterized in that: The surface of the clamping ear plate (220) is provided with a fulcrum shaft located on the surface of the machine arm body (100), and the fulcrum shaft is close to one end of the abutting ear (221), and the abutting ear (221) and the clamping abutting ball (222) are located at both ends of the clamping ear plate (220) for axial deflection movement of the abutting ear (221).

5. The torque mechanical arm easy to maintain according to claim 1, characterized in that: The surface of the synaptic ear (211) is in the shape of an oblique arc surface, and the synaptic ear (211) is arranged tangentially along the surface of the transmission ring (210). The surface of the synaptic ear (211) is provided with a friction ridge that abuts against the surface of the abutting ear (221).

6. The torque mechanical arm easy to maintain according to claim 1, characterized in that: The reduction transmission assembly (300) comprises a moving disc seat (310), a harmonic wheel (320), an output ring (330), and an input shaft (340) fixed to the output end of a driving motor (400); a bearing is provided on the inner side of the harmonic wheel (320) and is rotatably sleeved on the surface of the input shaft (340); the center of the outer circumference of the harmonic wheel (320) deviates from the axis of the input shaft (340); a harmonic groove (311) is provided on the inner side of the moving disc seat (310); a plurality of meshing grooves (331) are provided on the surface of the output ring (330); and a ball (332) is provided on the inner side of each meshing groove (331); and two sides of the ball (332) are respectively in sliding contact with the outer circumference of the harmonic wheel (320) and the inner side of the harmonic groove (311).

7. The torque mechanical arm easy to maintain according to claim 6, characterized in that: The harmonic groove (311) is in a corrugated shape.

8. The torque mechanical arm easy to maintain according to claim 1, characterized in that: A touch switch is provided on one side of the arm body (100), and an output end of the touch switch is electrically connected to a control panel for controlling a steering gear (230), and is used to automatically control the operation of the steering gear (230) during assembly of the mechanical arm.

9. The torque mechanical arm easy to maintain according to claim 1, characterized in that: The machine arm body (100) and the joint seat (110) are cylindrical structures, and a plurality of the clamping ear plates (220) are arranged on the outer periphery of the machine arm body (100) so as to move in a circumferential direction, so that the machine arm body (100) and the joint seat (110) are automatically centered and connected when the clamping ear plates (220) are in operation.

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