Torque arm for easy maintenance

Abstract

The present application relates to the technical field of mechanical arm, specifically to a torque mechanical arm convenient to maintain, comprising a mechanical arm body, a joint assembly, a speed reduction transmission assembly, a driving motor and a joint seat, the joint assembly is connected and disassembled quickly through the driving of a transmission ring, a clamping ear plate and a rudder, which is convenient for equipment maintenance and replacement; the speed reduction transmission assembly adopts harmonic drive technology, effectively reduces mechanical loss, and ensures the stability and high precision of torque transmission; the driving motor and the speed reduction transmission assembly work cooperatively to provide efficient power output, meeting the torque demand of different load requirements. The present application has simple structure, powerful function, and is widely applicable to high-load and high-precision automatic production lines, and has high reliability and easy maintainability.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of mechanical arms, in particular to a torque mechanical arm convenient to maintain. BACKGROUND

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

[0003] The connection method of traditional mechanical arms usually relies on manual operation or complex mechanical structures, and the disassembly and maintenance process is cumbersome, time-consuming and high-cost, resulting in a long maintenance period of the equipment and affecting the production efficiency. In addition, the existing mechanical arm driving system and transmission device often have problems of low transmission efficiency and large mechanical loss when bearing a large load, which affects the stability and precision of power transmission and limits the use of mechanical arms in high-load or high-precision application scenarios.

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

[0005] Based on the deficiencies of the prior art, the present application proposes a torque mechanical arm convenient to maintain, which has the advantages of quick disassembly, low loss, high precision transmission and the like by adopting a unique joint assembly and speed reduction transmission system, solves the problems of difficult maintenance and low transmission efficiency in the prior art, and has good adaptability and can meet different industrial application requirements. SUMMARY

[0006] The present application relates to a torque mechanical arm convenient to maintain, in particular to an efficient, stable and easy-to-maintain mechanical arm applied in the field of industrial automation.

[0007] A torque mechanical arm convenient to maintain, comprising: a mechanical arm body, a joint assembly, a speed reduction transmission assembly, a driving motor, and a joint seat rotatably mounted at one end of the mechanical arm body, an inner side of the joint seat is rotatably mounted with a shaft head piece, and a surface of the shaft head piece is fixedly mounted with a plane bearing, one side of the shaft head piece and the plane bearing is fixedly connected with the surface of the mechanical arm body.

[0008] The engagement assembly includes a transmission ring, a clamping plate, and a servo motor fixedly installed inside the transmission ring. The transmission ring is rotatably installed inside the arm body, and the surface of the transmission ring is provided with transmission teeth that mesh with the output end of the servo motor. The surface of the transmission ring is provided with a plurality of synaptic ears. One end of the clamping plate is provided with an abutment for abutting against the surface of the synaptic ears, and the other end of the clamping plate is provided with a clamping ball. The surface of the arm body is provided with an engagement groove adapted to the clamping ball.

[0009] The speed reduction transmission assembly includes a moving disc base, a harmonic wheel, an output ring, and an input shaft fixed to the output end of the drive motor. The inner side of the harmonic wheel is provided with a bearing and is rotatably sleeved on the surface of the input shaft. The outer circumference of the harmonic wheel is offset from the axis of the input shaft. The inner side of the moving disc base is provided with a harmonic groove. The surface of the output ring is provided with several meshing grooves, and each meshing groove is provided with a ball on its inner side. The two sides of the ball slide against the outer circumference of the harmonic wheel and the inner side of the harmonic groove, respectively.

[0010] Preferably, the outer periphery of the shaft head is provided with a bearing ball that slides against the inner side of the coupling seat, a coupling ring is provided on one side of the shaft head, and a slot adapted to the coupling ring is provided on the surface of the speed reduction transmission assembly.

[0011] Preferably, the planar bearing is used for the rotatable connection between the arm body and the end of the coupling seat, and the end of the shaft head passes through the planar bearing and is fixedly connected to the inner side of the arm body.

[0012] Preferably, the surface of the clamping plate is provided with a fulcrum shaft located on the surface of the main body of the arm, and the fulcrum shaft is close to one end of the abutment. The abutment and the clamping ball are located at both ends of the clamping plate for the axial deflection movement of the abutment.

[0013] Preferably, the surface of the synaptic ear is obliquely arc-shaped, and the synaptic ear is arranged tangentially along the surface of the transmission ring. The surface of the synaptic ear is provided with friction ridges that abut against the surface of the abutment.

[0014] Preferably, the harmonic groove is corrugated, and the relative cooperation and sliding structure of the harmonic groove, harmonic wheel and output ring can achieve high-precision deceleration, ensure that the desired output speed is reached during the transmission process, and maintain high transmission efficiency.

[0015] Preferably, a touch switch is provided on one side of the main body of the robotic arm, and the output end of the touch switch is electrically connected to a control board for controlling the servo motor, which is used to automatically control the operation of the servo motor during the assembly of the robotic arm.

[0016] Preferably, the main body of the arm and the connecting seat are cylindrical structures, and a plurality of clamping plates are arranged in a circumferential direction on the outer periphery of the main body of the arm, so that the main body of the arm and the connecting seat can be automatically centered and connected during the operation of the clamping plates.

[0017] This robotic arm, through its innovative structural design and rational functional configuration, achieves high-precision and high-stability motion control, and is easy to disassemble and maintain during use. The robotic arm of this invention has a simple structure, effectively preventing wear and tear during long-term use, while extending the equipment's service life and reducing maintenance costs. The following are the detailed technical solutions and innovations of this invention.

[0018] The torque-driven robotic arm of this invention has a cylindrical main body, with one end connected to a coupling seat via a planar bearing. A shaft end piece is located inside the coupling seat, and bearing balls are located on the outer periphery of the shaft end piece. The bearing balls slide against the inner side of the coupling seat, ensuring smooth rotation between the robotic arm main body and the coupling seat. This structure allows the robotic arm to withstand large workloads and ensures rotational stability and durability.

[0019] A coupling ring is provided on one side of the coupling seat. This coupling ring mates with a slot on the reduction gear assembly. During the connection and disassembly of the robotic arm, the engagement of the coupling ring and the slot ensures a stable connection of the robotic arm. Through this connection method, the robotic arm can not only easily complete automatic connection and disassembly, but also maintain good working performance under high loads.

[0020] The assembly includes a drive ring, a clamping plate, and a servo motor. The drive ring is rotatably mounted inside the main body of the robotic arm. The surface of the drive ring is provided with drive teeth that mesh with the output end of the servo motor. The servo motor drives the drive ring to rotate, thereby completing the automatic connection and disconnection of the robotic arm.

[0021] One end of the clamping plate is equipped with a fulcrum shaft, which is located near the abutment end. The design of the fulcrum shaft ensures that the clamping plate can deflect stably. The clamping ball at the other end of the clamping plate contacts the surface of the engagement seat, enabling quick connection of the robotic arm. When the servo motor drives the transmission ring to rotate, the clamping plate deflects, thereby connecting or disconnecting the robotic arm.

[0022] The transmission ring surface is provided with synaptic ears, the surfaces of which are obliquely curved and arranged tangentially along the transmission ring surface. The synaptic ears form frictional contact with the abutments on the clamping plate, ensuring the stability of the robotic arm during connection, reducing sliding friction, and improving the operational reliability of the robotic arm.

[0023] The speed reduction transmission assembly includes a moving plate base, a harmonic drive, an output ring, and an input shaft. The input shaft is driven by a motor; during high-speed rotation, the interaction between the harmonic drive and the moving plate base enables the output ring to rotate stably at low speed. This speed reduction transmission assembly design effectively reduces mechanical losses during transmission and ensures smooth and high-efficiency output.

[0024] The outer circumference of the harmonic drive is offset from the input shaft axis, achieving low-speed output through sliding engagement with the balls within the harmonic groove. The inner side of the moving plate seat has corrugated harmonic grooves, and the output ring surface has multiple grooves containing balls. The balls slide and abut against the outer circumference of the harmonic drive and the inner side of the harmonic groove on both sides, achieving high-precision speed reduction. This design ensures transmission efficiency and the stability of the robotic arm.

[0025] The drive motor is connected to the reduction gear assembly via an input shaft, providing efficient power output. The motor control system works in conjunction with a touch switch, which automatically controls the servo motor's operation, thus enabling the automatic connection and disconnection of the robotic arm. The touch switch sends signals to the control board; during the connection process, the servo motor automatically adjusts the angle of the clamping plates to achieve stable connection and separation of the robotic arm.

[0026] The torque-driven robotic arm of this invention features automatic connection and disassembly. A servo motor drives a transmission ring to rotate, causing the clamping plates to deflect axially, bringing them into contact with the engagement seat and quickly connecting the robotic arm. When disassembly is required, the servo motor reverses its direction, returning the clamping plates to their original position and disengaging the clamping balls from the engagement seat, thus separating the robotic arm. This design reduces manual intervention and improves production efficiency.

[0027] The robotic arm of this invention employs a reduction gear transmission assembly with high-precision transmission capabilities, enabling smooth low-speed output and ensuring the stability of the robotic arm under high loads. Furthermore, the various components of the robotic arm adopt a modular design, facilitating disassembly and replacement. During maintenance, users only need to disassemble and replace specific parts, avoiding complex disassembly procedures and reducing maintenance costs. Through this structural design, the torque robotic arm of this invention can maintain low maintenance costs while operating efficiently, making it particularly suitable for scenarios with high-frequency operation and maintenance requirements, such as automated production lines.

[0028] The robotic arm of this invention is also equipped with a touch switch and a servo motor control system, enabling automatic connection and disassembly of the robotic arm without human intervention. This automated control system is highly suitable for automated production lines, reducing manual operations, lowering error rates, and improving work efficiency and accuracy.

[0029] The beneficial effects achieved by this invention are as follows:

[0030] 1. In this invention, the transmission ring, clamping plate, and servo drive in the coupling assembly enable quick assembly and disassembly, facilitating maintenance and replacement. In particular, the structural design of the coupling assembly and shaft head makes the disassembly and maintenance of the robotic arm simpler, reducing the workload of operators and improving the maintainability of the equipment.

[0031] 2. In this invention, the mechanical losses during transmission are effectively controlled through the harmonic transmission structure of the speed reduction transmission component, ensuring the smoothness and high precision of torque transmission. This design ensures that the robotic arm can still operate stably under high-load and high-precision working environments, improving the overall reliability of the system.

[0032] 3. In this invention, the drive motor and the reduction transmission assembly work together, and the harmonic transmission technology is used to reduce the speed while maintaining high transmission efficiency, ensuring efficient power output in various application scenarios and meeting the torque requirements of different loads. Attached Figure Description

[0033] Figure 1 This is a schematic diagram of the overall structure of one embodiment of the present invention;

[0034] Figure 2 This is a schematic cross-sectional view of the joint state according to an embodiment of the present invention;

[0035] Figure 3 This is a schematic diagram of the shaft head component, reduction transmission assembly, and drive motor structure according to an embodiment of the present invention;

[0036] Figure 4 This is a schematic diagram of the joining component structure according to an embodiment of the present invention;

[0037] Figure 5 This is an exploded view of a speed reduction transmission assembly according to an embodiment of the present invention;

[0038] Figure 6 This is a schematic diagram of the surface structure of the transmission ring according to an embodiment of the present invention;

[0039] Figure 7 This is a schematic diagram of the surface structure of the ear clip plate according to an embodiment of the present invention.

[0040] Figure label:

[0041] 100. Main body of the boom; 110. Connecting seat; 120. Shaft head; 130. Surface bearing; 121. Bearing ball; 122. Connecting ring;

[0042] 200. Engagement assembly; 210. Drive ring; 220. Clamping plate; 230. Servo motor; 211. Synaptic lug; 212. Drive gear; 221. Abutment; 222. Clamping ball; 223. Spring;

[0043] 300. Reduction gear transmission assembly; 310. Moving disc base; 320. Harmonic drive; 330. Output ring; 340. Input shaft; 311. Harmonic groove; 331. Groove; 332. Ball bearing;

[0044] 400. Drive motor. Detailed Implementation

[0045] To make the objectives, technical solutions, and advantages of this invention clearer, the invention will be further described in detail below with reference to specific embodiments and accompanying drawings. It should be noted that, unless otherwise specified, the embodiments and features described herein can be combined with each other.

[0046] It should be understood that these descriptions are merely exemplary and are not intended to limit the scope of the invention.

[0047] The following is in conjunction with the appendix Figures 1 to 7 This invention describes a torque-operated robotic arm that is easy to maintain, provided by some embodiments of the invention.

[0048] This invention provides a maintenance-friendly torque-operated robotic arm. The robotic arm features a simple structure and powerful functionality, enabling efficient and reliable automatic connection and disassembly, and facilitating maintenance and replacement. Its technical solution includes the following main components:

[0049] 1. Connection between the main body 100 of the robotic arm and the connecting seat 110

[0050] The arm body 100 of the torque-operated robotic arm of the present invention is rotatably connected to the coupling seat 110 via a plane bearing 130. A shaft end piece 120 is mounted on the inner side of the coupling seat 110, and a bearing ball 121 is provided on the outer periphery of the shaft end piece 120. The bearing ball 121 slides against the inner side of the coupling seat 110 to ensure smooth rotation of the two parts. A coupling ring 122 is provided on one side of the coupling seat 110, and the coupling ring 122 mates with a slot on the reduction transmission assembly 300 for easy connection and disassembly.

[0051] Connection between the coupling seat and the main body of the arm: The main body of the arm 100 and the coupling seat 110 are cylindrical structures, with a flat bearing 130 provided on the inner side of the main body of the arm 100. The flat bearing 130 is rotatably connected to the end of the coupling seat 110 to ensure the rotational performance of the two parts. The end of the shaft head 120 passes through the flat bearing 130 and is fixedly connected to the inner side of the main body of the arm 100 to ensure smooth rotation.

[0052] 2. Structural design of the 200-joint assembly

[0053] The engagement assembly 200 includes a drive ring 210, a clamping plate 220, and a servo motor 230 fixedly mounted inside the drive ring 210. The drive ring 210 is rotatably mounted inside the arm body 100, and its surface is provided with drive teeth 212 that mesh with the output end of the servo motor 230. This design allows the drive ring 210 to rotate efficiently via the servo motor 230, thereby enabling the automatic connection and disconnection of the robotic arm.

[0054] One end of the clamping plate 220 is equipped with a fulcrum shaft, which is located near the end of the abutment 221. The design of the fulcrum shaft ensures that the clamping plate 220 can deflect stably. The clamping ball 222 at the other end of the clamping plate 220 contacts the surface of the engagement seat 110 for quick connection of the robotic arm. When the servo motor 230 drives the transmission ring 210 to rotate, the clamping plate 220 deflects, thereby connecting or disconnecting the robotic arm.

[0055] The transmission ring 210 has a number of synaptic ears 211 on its surface. These synaptic ears 211 are arranged tangentially along the surface of the transmission ring 210, and the surface of the synaptic ears is obliquely arc-shaped. The surface of the synaptic ears 211 is also provided with friction ridges, which abut against the surface of the abutment 221 on the clamping plate 220 to ensure the stability of the robotic arm during the connection process and reduce sliding friction.

[0056] 3. Design of the 300-type speed reduction transmission assembly

[0057] The speed reduction transmission assembly 300 includes a moving plate base 310, a harmonic impeller 320, an output ring 330, and an input shaft 340. The input shaft 340 is driven by a drive motor 400. When rotating at high speed, the interaction between the harmonic impeller 320 and the moving plate base 310 enables the output ring 330 to achieve stable low-speed rotation.

[0058] The harmonic drive 320 has a bearing on its inner side and is rotatably sleeved on the surface of the input shaft 340. The outer circumference of the harmonic drive 320 is offset from the axis of the input shaft 340, thereby achieving low-speed output during transmission. The moving disc base 310 has a corrugated harmonic groove 311 on its inner side, and the output ring 330 has multiple meshing grooves 331 on its surface, with balls 332 inside the meshing grooves 331. The balls 332 slide and abut against the outer circumference of the harmonic drive 320 and the inner side of the harmonic grooves 311 on both sides, thereby achieving high-precision deceleration.

[0059] 4. Drive motor 400 and control system

[0060] The drive motor 400 is connected to the reduction gear assembly 300 via the input shaft 340 and provides power through its output end. In this embodiment, the drive motor 400 employs a high-efficiency motor system capable of providing stable torque output under high-load operating conditions. The motor control system works in conjunction with a touch switch, which triggers the control board to automatically control the operation of the servo motor 230, thereby enabling the automatic connection and disconnection of the robotic arm.

[0061] 5. Automatic control and disassembly design

[0062] The robotic arm of this invention uses a servo motor 230 to drive the transmission ring 210 to rotate, thereby deflecting the clamping plate 220. The deflection of the clamping plate 220 clamps the clamping ball 222 into contact with the surface of the engagement seat 110, thus connecting the robotic arm. Under the reverse drive of the servo motor 230, the clamping plate 220 returns to its original position, causing the clamping ball 222 to disengage from the engagement seat 110, thus separating the robotic arm.

[0063] 6. Touch switch and servo motor control

[0064] During the use of the robotic arm, the touch switch works in conjunction with the servo control system. The touch switch detects the connection status of the robotic arm. When the connection conditions are met, the touch switch sends a signal to the control board, automatically activating the servo motor 230 and adjusting the clamping plate 220, thereby completing the automatic connection and disconnection of the robotic arm. This automated design greatly improves the efficiency of the robotic arm and reduces manual intervention.

[0065] Working principle and usage process of this invention:

[0066] This invention relates to a maintenance-friendly torque-controlled robotic arm. Utilizing its precise structural design, it achieves efficient assembly, precise docking, and automatic locking of the robotic arm, improving operational convenience and maintenance efficiency. The detailed working principle of this invention is as follows:

[0067] 1. Initial positioning and assembly process of the template

[0068] Before the assembly begins, the upper and lower robotic arm bodies 100 and the coupling seat 110 are in a relatively coaxial and facing state. The coupling assembly 200 consists of a drive ring 210, a clamping plate 220, and a servo motor 230. These components are respectively installed on the robotic arm body 100 and the coupling seat 110, ready to work together during the coupling process.

[0069] Two robotic arms are connected manually or using mechanical equipment (such as a crane). In the connected state, the contact between a touch switch on the surface of the robotic arm body 100 and the engagement seat 110 automatically controls the servo motor 230 to operate, driving the transmission ring 210 to rotate. This causes the transmission gear 212 to mesh with the output end of the servo motor 230, achieving motion transmission. Next, the abutment 221 on the clamping plate 220 contacts the synaptic ear 211 and generates axial force, causing the clamping plate 220 to deflect. The other end of the clamping plate 220 engages with the engagement groove on the surface of the robotic arm body 100 via a clamping ball 222, thus achieving a precise connection between the two robotic arm sections.

[0070] 2. Operation of the speed reduction transmission assembly 300

[0071] The reduction transmission assembly 300 consists of a moving plate base 310, a harmonic wheel 320, an output ring 330, and an input shaft 340. The drive motor 400 rotates through the input shaft 340, causing the harmonic wheel 320 to move eccentrically. The harmonic oscillation of the harmonic wheel 320 causes the outer circumference center to deviate, causing the balls 332 inside the harmonic groove 311 of the moving plate base 310 to roll and slide against the surface of the harmonic wheel 320, thus creating a transmission effect.

[0072] In this process, the groove 331 on the output ring 330 engages with the ball 332 to achieve speed reduction transmission. The sliding engagement of the ball 332 between the harmonic wheel 320 and the harmonic groove 311 ensures that the movement of the robotic arm is smooth and precise. The output of this stage robotic arm is transmitted to the next stage robotic arm through the connection between the output ring 330 and the shaft head 120.

[0073] The input shaft 340 is driven to rotate at high speed by the drive motor 400. During the rotation of the input shaft 340, the input shaft 340 eccentrically oscillates and abuts against the ball bearing 332, which slides against the inside of the harmonic groove 311. This, in turn, causes the output ring 330 to rotate at low speed inside the moving plate seat 310. Under the meshing and insertion action of the shaft head 120 and the reduction transmission assembly 300, the shaft head 120 moves synchronously and outputs kinetic energy to drive the next-level robotic arm.

[0074] 3. The disassembly and reassembly process of the robotic arm

[0075] When the robotic arm needs to be disassembled, the servo motor 230 is manually controlled to reset and rotate the transmission ring 210, causing the synaptic ear 211 to disengage from the abutment ear 221. The spring 223 pushes the clamping plate 220 to deflect, causing the clamping ball 222 to disengage from the surface of the coupling seat 110 for unlocking. This allows for the quick removal and separation of the two sections of the robotic arm, enabling rapid disassembly and assembly and facilitating maintenance.

[0076] Through the above steps, the present invention provides a high-efficiency, easy-to-maintain, and precisely docking torque robotic arm, which can reduce human intervention in automated operation and ensure the stability and reliability of the robotic arm during use.

[0077] In the description of this specification, the terms "one embodiment," "some embodiments," "specific embodiment," etc., refer to a specific feature, structure, material, or characteristic described in connection with that embodiment or example, which is included in at least one embodiment or example of the present invention. In this specification, the illustrative expressions of the above terms do not necessarily refer to the same embodiment or example. Furthermore, the specific features, structures, materials, or characteristics described may be combined in any suitable manner in one or more embodiments or examples.

[0078] Although embodiments of the invention have been shown and described, those skilled in the art will understand that various changes, modifications, substitutions and alterations can be made to these embodiments without departing from the principles and spirit of the invention, the scope of which is defined by the claims and their equivalents.

Claims

1. A torque-operated robotic arm that is easy to maintain, characterized in that, include: The arm body (100), the connecting assembly (200), the reduction transmission assembly (300), the drive motor (400), and the connecting seat (110) rotatably mounted on one end of the arm body (100) are provided. A shaft head (120) is rotatably mounted on the inner side of the connecting seat (110), and a plane bearing (130) is fixedly mounted on the surface of the shaft head (120). One side of the shaft head (120) and the plane bearing (130) are respectively fixedly connected to the surface of the arm body (100). The engagement assembly (200) includes a drive ring (210), a clamping plate (220), and a servo motor (230) fixedly installed inside the drive ring (210). The drive ring (210) is rotatably mounted inside the arm body (100), and the surface of the drive ring (210) is provided with drive teeth (212) that mesh with the output end of the servo motor (230). The surface of the drive ring (210) is provided with a plurality of synaptic ears (211). One end of the clamping plate (220) is provided with an abutment (221) for abutting against the surface of the synaptic ears (211), and the other end of the clamping plate (220) is provided with a clamping ball (222). The surface of the arm body (100) is provided with a engagement groove adapted to the clamping ball (222). The outer periphery of the shaft head (120) is provided with a engagement groove for the engagement of the shaft head (120). The bearing ball (121) slides against the inner side of the mounting base (110). A connecting ring (122) is provided on one side of the shaft head (120). The surface of the speed reduction transmission assembly (300) is provided with a slot that matches the connecting ring (122). The plane bearing (130) is used for the rotational connection between the arm body (100) and the end of the mounting base (110). 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). The surface of the clamping plate (220) is provided with a fulcrum shaft located on the surface of the arm body (100). The fulcrum shaft is close to one end of the abutment (221). The abutment (221) and the clamping ball (222) are located at both ends of the clamping plate (220). The fulcrum shaft is used for the axial deflection movement of the abutment (221).

2. The easy-to-maintain torque-controlled robotic arm according to claim 1, characterized in that, The surface of the synaptic ear (211) is obliquely arc-shaped 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 friction ridges that abut against the surface of the abutment (221).

3. The easy-to-maintain torque-controlled robotic arm according to claim 1, characterized in that, The speed reduction transmission assembly (300) includes a moving plate seat (310), a harmonic wheel (320), an output ring (330), and an input shaft (340) fixed to the output end of a drive motor (400). 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 of the harmonic wheel (320) is offset from the axis of the input shaft (340). The inner side of the moving plate seat (310) is provided with a harmonic groove (311). The surface of the output ring (330) is provided with several meshing grooves (331), and the inner side of each meshing groove (331) is provided with a ball (332). The two sides of the ball (332) slide against the outer circumference of the harmonic wheel (320) and the inner side of the harmonic groove (311).

4. The easy-to-maintain torque robotic arm according to claim 3, characterized in that, The harmonic groove (311) is corrugated.

5. The easy-to-maintain torque-controlled robotic arm according to claim 1, characterized in that, A touch switch is provided on one side of the main body (100) of the robotic arm, and the output end of the touch switch is electrically connected to a control board for controlling the servo motor (230) to automatically control the servo motor (230) during the assembly of the robotic arm.

6. The easy-to-maintain torque-controlled robotic arm according to claim 1, characterized in that, The main body (100) and the connecting seat (110) are cylindrical structures. Several clamping plates (220) are arranged in a circumferential direction on the outer periphery of the main body (100). During the operation of the clamping plates (220), the main body (100) and the connecting seat (110) are automatically centered and connected.

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