Traction type flexible micro mechanical arm

Abstract

The utility model discloses a traction type flexible micro-mechanical arm, which belongs to the technical field of surgical robots and comprises an end effector, a flexible arm and a driving mechanism for driving the flexible arm to swing, the end effector is detachably connected with the flexible arm through an end connector, and the end effector is detachably connected with the flexible arm through the end connector. The flexible arm comprises a plurality of mechanical arm sections connected in sequence and further comprises a plurality of traction assemblies symmetrically distributed in the radial direction, the first end of each traction assembly is connected with the tail end connecting piece, and the second end of each traction assembly sequentially penetrates through the mechanical arm sections and is in driving connection with the driving mechanism. The driving mechanism is used for driving the traction assembly to drive the end effector to reach any working position in the three-dimensional space. Through the traction assembly and the elastic mechanism in the mechanical arm section, the tail end of the micro mechanical arm can reach any working position in a three-dimensional space, the requirement for flexibility is met, the requirement for rigidity of the micro mechanical arm in the operation process is met, and both flexibility and stability are achieved.

Description

Technical Field

[0001] The utility model belongs to the technical field of surgical robots, and in particular relates to a traction-type flexible micro-mechanical arm. Background Art

[0002] The end instruments of traditional surgical robots are often laparoscopic surgical instruments, which are prone to cross-interference when working in a narrow surgical space, causing tissue damage. There are limitations in the precise control of surgical robots such as surgical instrument clamping, surgical auxiliary clamping, and operations in small spaces. In addition, some newly invented serpentine flexible arms have problems such as small rotation angle, low control accuracy, and small transmittable torque, which are not suitable for minimally invasive face and neck surgeries that require high-precision operations. There is no industry standard for existing instruments suitable for minimally invasive face and neck surgeries, and surgical instruments that can be flexibly and stably operated in narrow artificial cavities are in urgent need of development and updating.

[0003] At present, there are mainly two types of flexible arms: serpentine flexible arms and concentric tube robotic arms. Compared with traditional rigid arm surgical robots, they are theoretically safer, more sensitive, and have a larger working range, and can meet the needs of various high-precision minimally invasive surgeries. However, taking the currently disclosed serpentine flexible arm as an example, in actual surgery, due to the different magnitude, strength, and contact time of the force when human tissue contacts the end of the instrument, the serpentine flexible arm faces the problem of excessive flexibility, insufficient rigidity, and low operating precision. The concentric tube robotic arm can meet the rigidity requirements of surgical operations, but it greatly reduces the flexibility requirements and spatial flexibility.

[0004] Therefore, there is an urgent need for a robotic arm that is both flexible and can meet the rigidity requirements of surgical operations. Summary of the invention

[0005] The purpose of the utility model is to provide a mechanical arm that is both flexible and can meet the rigidity requirements of surgical operations. In order to achieve the above purpose, the utility model adopts the following technical solutions:

[0006] A traction-type flexible micro-mechanical arm, comprising an end effector, a flexible arm and a driving mechanism for driving the flexible arm to swing, wherein the end effector and the flexible arm are detachably connected via an end connector, the flexible arm comprises a plurality of mechanical arm sections connected in sequence, and further comprising:

[0007] A plurality of groups of traction assemblies are radially symmetrically distributed, wherein the first end of each group of traction assemblies is connected to the end connector, and the second end sequentially passes through a plurality of mechanical arm sections and is drivably connected to the driving mechanism; an elastic mechanism is arranged in the mechanical arm section, and the driving mechanism is used to drive the traction assembly to drive the end actuator to reach any working position in a three-dimensional space.

[0008] Furthermore, the driving mechanism comprises:

[0009] Robotic arm base;

[0010] A plurality of driving parts are symmetrically mounted on both sides of the robot arm base and are arranged one-to-one correspondingly to the plurality of traction components. The driving parts drive the corresponding traction components to move.

[0011] Furthermore, each of the mechanical arm sections comprises:

[0012] Boom platform;

[0013] A first rotating seat, wherein the first rotating seat is fixedly connected to one side of the arm section platform;

[0014] A rotating member, wherein the first end of the rotating member is rotatably connected to the first rotating seat, the second end of the rotating member is rotatably connected to the second rotating seat, the first end of the rotating member and the first rotating seat rotate along a first rotating direction, and the second end of the rotating member rotates along a second rotating direction, and the first rotating direction and the second rotating direction are orthogonal to each other; the other end of the second rotating seat is connected to the arm section platform of the adjacent mechanical arm section;

[0015] A plurality of springs are arranged one by one with the plurality of traction assemblies, the plurality of springs are arranged at intervals between two adjacent arm section platforms, and the second end of the traction assembly sequentially passes through the springs correspondingly arranged in the plurality of mechanical arm sections.

[0016] Furthermore, the arm section platform located near one end of the end effector is connected to the end connector, the arm section platform located near one end of the robotic arm base is connected to the robotic arm base, and the rotation direction of the second rotating seat is the same as the rotation direction of the first rotating seat in the adjacent robotic arm section.

[0017] Furthermore, the arm section platform is provided with a plurality of spring connection platforms, the spring connection platforms penetrate the arm section platform, and the spring connection platforms are hollow structures, the first end of the spring connection platforms is connected to the spring located on one side of the spring connection platforms, and the second end of the spring connection platforms is connected to the spring located on the other side of the spring connection platforms.

[0018] Furthermore, each group of the traction components comprises:

[0019] A traction rope, wherein the first end of the traction rope is connected to the terminal connector, the second end of the traction rope sequentially passes through the corresponding spring and the spring connecting platform, and extends to the other side of the flexible arm, and the traction rope is used to provide a pulling force;

[0020] The traction wheel is arranged in the mechanical arm base and is drivingly connected to the corresponding driving part. The traction wheel is connected to the second end of the traction rope.

[0021] Further, the driving unit is a motor, and there are four motors, namely a first motor, a second motor, a third motor and a fourth motor, wherein the first motor and the second motor are symmetrically arranged on both sides of the robot arm base, the third motor is located on the same side of the first motor, and the fourth motor is located on the same side of the second motor, and the first motor, the second motor, the third motor and the fourth motor have the same rotation direction;

[0022] The traction wheels include four, namely, a first traction wheel, a second traction wheel, a third traction wheel and a fourth traction wheel, the motor shaft of the first motor is drivingly connected to the first traction wheel through an elastic coupling, and the motor shaft of the second motor is drivingly connected to the second traction wheel through an elastic coupling;

[0023] The motor shaft of the third motor is connected to a first gear, a first gear shaft is provided on the inner side of the mechanical arm base, a first end of the first gear shaft is rotatably connected to one side of the mechanical arm base, and a second end is rotatably connected to the other side of the mechanical arm base, the third traction wheel is fixedly connected to the first gear shaft, a first slave gear is fixedly connected to a side of the first gear shaft close to the first gear, and the first slave gear is meshed with the first gear;

[0024] The motor shaft of the fourth motor is connected to a second gear, a second gear shaft is provided on the inner side of the mechanical arm base, a first end of the second gear shaft is rotatably connected to one side of the mechanical arm base, and a second end is rotatably connected to the other side of the mechanical arm base, the fourth traction wheel is fixedly connected to the second gear shaft, a second slave gear is fixedly connected to a side of the second gear shaft close to the second gear, and the second slave gear is meshed with the second gear;

[0025] The traction ropes include four ropes, namely a first traction rope, a second traction rope, a third traction rope and a fourth traction rope. The first end of the first traction rope, the first end of the second traction rope, the first end of the third traction rope and the first end of the fourth traction rope are all connected to the boom platform close to one end of the terminal connector, the end of the second end of the first traction rope is connected to the first traction wheel, the end of the second end of the second traction rope is connected to the second traction wheel, the end of the second end of the third traction rope is connected to the third traction wheel, and the end of the second end of the fourth traction rope is connected to the fourth traction wheel.

[0026] Furthermore, rolling bearings are arranged between both ends of the first gear shaft and the robotic arm base, and between both ends of the second gear shaft and the robotic arm base. The first motor, the second motor, the third motor and the fourth motor have the same structure, through holes are opened at four corners, and are fixed to the robotic arm base by screws.

[0027] Furthermore, a motor jacket is provided between the third motor and the robotic arm base, and between the fourth motor and the robotic arm base.

[0028] Furthermore, a plurality of LED lights are arranged on the top of the arm section platform connected to the end connector.

[0029] Beneficial effects:

[0030] The utility model is detachably connected to the flexible arm through the end connector, and the flexible arm can be connected to various terminal instruments according to actual surgical needs to meet various surgical requirements and the working habits of the surgeon.

[0031] The utility model changes the expansion and contraction of the spring in the mechanical arm section and the rotation of the central rotating joint by changing the length of the traction rope, so that the end of the micro-mechanical arm can reach any working position in the three-dimensional space, which not only meets the flexibility requirements, but also meets the rigidity requirements of the micro-mechanical arm during the operation, and achieves a balance between flexibility and stability.

[0032] The utility model can realize constant speed and constant angle rotation by matching four traction wheels stably connected to the mechanical base with four corresponding motor shafts, can transmit torque, reduce vibration and impact, and increase transmission stability.

[0033] In the utility model, the connection between the third motor and the third traction wheel, and the connection between the fourth motor and the fourth traction wheel are both connected through gear transmission, which can save space on the mechanical arm base and has a smaller volume. BRIEF DESCRIPTION OF THE DRAWINGS

[0034] Figure 1 This is a schematic diagram of the overall housing of the utility model;

[0035] Figure 2 This is a schematic diagram of the overall front view of the utility model without the housing;

[0036] Figure 3 This is a schematic diagram of the overall side view of the utility model without the housing;

[0037] Figure 4 This is a schematic diagram of the utility model from another perspective without the housing;

[0038] Figure 5 This is a schematic diagram of the driving mechanism of the utility model;

[0039] Figure 6 This is a schematic diagram of the mechanical arm section of the utility model;

[0040] Figure 7 It is a schematic diagram of two adjacent mechanical arm sections of the utility model.

[0041] Among them, 1. end connector; 2. robotic arm section; 3. robotic arm base; 4. first motor; 5. second motor; 6. third motor; 7. fourth motor; 8. first traction wheel; 9. second traction wheel; 10. third traction wheel; 11. fourth traction wheel; 12. first traction rope; 13. second traction rope; 14. third traction rope; 15. fourth traction rope; 16. screw; 17. motor shaft; 18. rolling bearing; 19. washer; 20. LED lamp; 21. bolt; 22. arm section platform; 23. first rotating seat; 24. rotating member; 25. second rotating seat; 26. spring; 27. spring connecting platform. DETAILED DESCRIPTION

[0042] Example 1

[0043] refer to Figure 1 - Figure 7 A traction-type flexible micro-mechanical arm comprises an end effector, a flexible arm and a driving mechanism for driving the flexible arm to swing, wherein the end effector and the flexible arm are detachably connected via an end connector 1, the flexible arm comprises a plurality of mechanical arm segments 2 connected in sequence, and further comprises:

[0044] Multiple groups of traction components are distributed radially symmetrically, and the first end of each group of traction components is connected to the end connector 1, and the second end passes through multiple robot arm sections 2 in sequence and is connected to the driving mechanism; an elastic mechanism is provided in the robot arm section 2, and the driving mechanism is used to drive the traction assembly to drive the end actuator to reach any working position in the three-dimensional space.

[0045] The utility model is detachably connected to the flexible arm through the end connector, and the flexible arm can be connected to various terminal instruments according to actual surgical needs to meet various surgical requirements and the working habits of the surgeon.

[0046] In this embodiment, the driving mechanism includes:

[0047] Robotic arm base 3;

[0048] Multiple motors are symmetrically installed on both sides of the robot arm base 3. The multiple motors are arranged in a one-to-one correspondence with the multiple groups of traction components, and the motors drive the corresponding traction components to move.

[0049] In this embodiment, each robotic arm segment 2 includes:

[0050] Boom section platform 22;

[0051] A first rotating seat 23, the first rotating seat 23 is fixedly connected to one side of the arm section platform 22;

[0052] A rotating member 24, wherein a first end of the rotating member 24 is rotatably connected to the first rotating seat 23, and a second end of the rotating member 24 is rotatably connected to the second rotating seat 25. The first end of the rotating member 24 and the first rotating seat 23 rotate along a first rotating direction, and the second end of the rotating member 24 rotates along a second rotating direction, and the first rotating direction and the second rotating direction are orthogonal to each other; the other end of the second rotating seat 25 is connected to the arm section platform 22 of the adjacent mechanical arm section 2;

[0053] In specific implementation, each robot arm segment has a rotating joint in the middle, and a rotating pair is connected between the rotating member and the first rotating seat, and between the rotating member and the second rotating seat, which can increase the torque and stability of the robot arm.

[0054] Multiple springs 26 are arranged one by one with multiple traction assemblies, and multiple springs 26 are arranged at intervals between two adjacent arm section platforms 22. The second ends of the traction assemblies sequentially penetrate the corresponding springs 26 arranged in the multi-section mechanical arm sections 2.

[0055] In this embodiment, the arm section platform located near one end of the end effector is connected to the end connector 1, the arm section platform 22 located near one end of the robot arm base is connected to the robot arm base 3, and the rotation direction of the second rotating seat 25 is the same as the rotation direction of the first rotating seat 23 in its adjacent robot arm section 2.

[0056] During specific implementation, the boom section platform 22 is connected to the end connector via bolts 21 .

[0057] The utility model changes the expansion and contraction of the spring in the mechanical arm section and the rotation of the central rotating joint by changing the length of the traction rope, so that the end of the micro-mechanical arm can reach any working position in the three-dimensional space, which not only meets the flexibility requirements, but also meets the rigidity requirements of the micro-mechanical arm during the operation, and achieves a balance between flexibility and stability.

[0058] Example 2

[0059] In order to improve transmission stability, this embodiment makes further arrangements based on the first embodiment.

[0060] In this embodiment, the arm section platform 22 is provided with a plurality of spring connection platforms 27, which penetrate the arm section platform 22 and are hollow structures. The first end of the spring connection platform 27 is connected to the spring 26 located on one side of the spring connection platform 27, and the second end of the spring connection platform 27 is connected to the spring 26 located on the other side of the spring connection platform 27.

[0061] In this embodiment, each traction assembly includes:

[0062] A traction rope, the first end of which is connected to the terminal connector 1, and the second end of which passes through the corresponding spring 26 and the spring connecting platform 27 in sequence, and extends to the other side of the flexible arm. The traction rope is used to provide a pulling force;

[0063] The traction wheel is arranged in the robot arm base 3 and is drivingly connected to the corresponding driving part. The traction wheel is connected to the second end of the traction rope.

[0064] During specific implementation, the first end of the traction rope is connected to the lower end of the boom section platform 22 connected to the terminal connector 1 .

[0065] In this embodiment, the traction rope and the traction wheel constitute a traction assembly. The traction rope is a single wire fixed between the traction wheel and the end connector, and passes through the springs corresponding to each mechanical arm segment in sequence.

[0066] In this embodiment, the motors include four, namely, a first motor 4, a second motor 5, a third motor 6 and a fourth motor 7, wherein the first motor 4 and the second motor 5 are symmetrically arranged on both sides of the robot arm base 3, the third motor 6 is located on the same side of the first motor 4, and the fourth motor 7 is located on the same side of the second motor 5, and the first motor 4, the second motor 5, the third motor 6 and the fourth motor 7 have the same rotation direction;

[0067] During specific implementation, the first motor 4 , the second motor 5 , the third motor 6 and the fourth motor 7 have the same rotation direction, which can ensure the stability of the operation.

[0068] The traction wheels include four, namely, a first traction wheel 8, a second traction wheel 9, a third traction wheel 10 and a fourth traction wheel 11. The motor shaft of the first motor 4 is drivingly connected to the first traction wheel 8 through an elastic coupling, and the motor shaft of the second motor 5 is drivingly connected to the second traction wheel 9 through an elastic coupling.

[0069] By setting up an elastic coupling, torque can be transmitted, vibration and impact can be reduced, and transmission stability can be increased.

[0070] The motor shaft of the third motor 6 is connected to the first gear, the inner side of the robot base 3 is provided with a first gear shaft, the first end of the first gear shaft is rotatably connected to one side of the robot base 3, and the second end is rotatably connected to the other side of the robot base 3, the third traction wheel 10 is fixedly connected to the first gear shaft, and the first slave gear is fixedly connected to the side of the first gear shaft close to the first gear, and the first slave gear is meshed with the first gear;

[0071] The motor shaft 17 of the fourth motor 7 is connected to the second gear, the inner side of the robot base 3 is provided with a second gear shaft, the first end of the second gear shaft is rotatably connected to one side of the robot base 3, and the second end is rotatably connected to the other side of the robot base 3, the fourth traction wheel 11 is fixedly connected to the second gear shaft, and the second gear shaft is fixedly connected to the side close to the second gear with a second slave gear, and the second slave gear is meshed with the second gear;

[0072] The motor power is transmitted to the traction assembly by meshing two gears. The connection between the third motor 6 and the third traction wheel 10, and the connection between the fourth motor 7 and the fourth traction wheel 11 are both connected through gear transmission, which can save space on the robot base 3 and make the volume smaller.

[0073] The traction ropes include four ropes, namely the first traction rope 12, the second traction rope 13, the third traction rope 14 and the fourth traction rope 15. The first end of the first traction rope 12, the first end of the second traction rope 13, the first end of the third traction rope 14 and the first end of the fourth traction rope 15 are all connected to the boom platform 22 near one end of the end connector 1, the second end of the first traction rope 12 is connected to the first traction wheel 8, the second end of the second traction rope 13 is connected to the second traction wheel 9, the second end of the third traction rope 14 is connected to the third traction wheel 10, and the second end of the fourth traction rope 15 is connected to the fourth traction wheel 11.

[0074] The utility model can realize constant speed and constant angle rotation by matching four traction wheels stably connected to the mechanical base with four corresponding motor shafts, can transmit torque, reduce vibration and impact, and increase transmission stability.

[0075] In this embodiment, rolling bearings 18 are arranged between both ends of the first gear shaft and the robot arm base 3, and between both ends of the second gear shaft and the robot arm base 3. The first motor 4, the second motor 5, the third motor 6 and the fourth motor 7 have the same structure, and through holes are opened at the four corners, and they are fixed to the robot arm base 3 by screws 16.

[0076] In specific implementation, the first motor 4, the second motor 5, the third motor 6 and the fourth motor 7 have the same structure. The motor parts are composed of a motor inner shell, a motor kit and a motor outer shell. These three parts can protect the motor from external damage and can be stably connected to the robot arm base through four nuts and four screws 16.

[0077] During specific implementation, a gasket 19 is provided between the robot arm base 3 and the rolling bearing 18 to achieve sealing and other functions.

[0078] For the reasonable configuration of the robot arm base, motor jackets are provided between the third motor 6 and the robot arm base 3 , and between the fourth motor 7 and the robot arm base 3 .

[0079] In this embodiment, a plurality of LED lights 20 are disposed on the top of the arm section platform 22 connected to the end connector 1, so as to facilitate the operation of the robot arm in a narrow space.

[0080] Instructions for use: According to the needs of different stages of the operation, a suitable end effector can be selected to connect to the micro-robotic arm. By controlling the four motors to generate rotational motion, the motor shaft, gears and other structures transmit power to the traction wheel, thereby controlling the telescopic length and telescopic speed of the traction rope. The change in the length of the traction rope can change the telescopic movement of the four springs of the robotic arm segment and the rotation of the central rotating joint, thereby realizing the movement of the robotic arm. The spring, as the main carrier of the arm segment, can meet the surgical requirements for the robotic arm force. By controlling the speed and angle of rotation of the four motors, the end of the micro-robotic arm can reach any working position in three-dimensional space.

[0081] The above description is only a preferred embodiment of the present invention and does not limit the technical scope of the present invention. Therefore, any slight modifications, equivalent changes and modifications made to the above embodiments based on the technical essence of the present invention still fall within the scope of the technical solution of the present invention.

Claims

1. A traction-type flexible micro-mechanical arm, comprising an end effector, a flexible arm and a driving mechanism for driving the flexible arm to swing, wherein the end effector and the flexible arm are detachably connected via an end connector, and the flexible arm comprises a plurality of mechanical arm sections connected in sequence, characterized in that: Also includes: A plurality of groups of traction assemblies are radially symmetrically distributed, wherein the first end of each group of traction assemblies is connected to the end connector, and the second end sequentially passes through a plurality of mechanical arm sections and is drivably connected to the driving mechanism; an elastic mechanism is arranged in the mechanical arm section, and the driving mechanism is used to drive the traction assembly to drive the end actuator to reach any working position in a three-dimensional space.

2. The traction-type flexible micro-mechanical arm according to claim 1, characterized in that: The driving mechanism comprises: Robotic arm base; A plurality of driving parts are symmetrically mounted on both sides of the robot arm base and are arranged one-to-one correspondingly to the plurality of traction components. The driving parts drive the corresponding traction components to move.

3. The traction-type flexible micro-mechanical arm according to claim 2, characterized in that: Each of the above-mentioned robot arm sections includes: Boom platform; A first rotating seat, wherein the first rotating seat is fixedly connected to one side of the arm section platform; A rotating member, wherein the first end of the rotating member is rotatably connected to the first rotating seat, the second end of the rotating member is rotatably connected to the second rotating seat, the first end of the rotating member and the first rotating seat rotate along a first rotating direction, and the second end of the rotating member rotates along a second rotating direction, and the first rotating direction and the second rotating direction are orthogonal to each other; the other end of the second rotating seat is connected to the arm section platform of the adjacent mechanical arm section; A plurality of springs are arranged one by one with the plurality of traction assemblies, the plurality of springs are arranged at intervals between two adjacent arm section platforms, and the second end of the traction assembly sequentially passes through the springs correspondingly arranged in the plurality of mechanical arm sections.

4. The traction-type flexible micro-mechanical arm according to claim 3, characterized in that: The arm section platform located near one end of the end effector is connected to the end connector, the arm section platform located near one end of the robotic arm base is connected to the robotic arm base, and the rotation direction of the second rotating seat is the same as the rotation direction of the first rotating seat in the adjacent robotic arm section.

5. The traction-type flexible micro-mechanical arm according to claim 3, characterized in that: The arm section platform is provided with a plurality of spring connection platforms, the spring connection platforms penetrate the arm section platform, and the spring connection platforms are hollow structures, the first end of the spring connection platforms is connected to the spring located on one side of the spring connection platforms, and the second end of the spring connection platforms is connected to the spring located on the other side of the spring connection platforms.

6. The traction-type flexible micro-mechanical arm according to claim 3, characterized in that: Each set of the traction components comprises: A traction rope, wherein the first end of the traction rope is connected to the terminal connector, the second end of the traction rope sequentially passes through the corresponding spring and the spring connecting platform, and extends to the other side of the flexible arm, and the traction rope is used to provide a pulling force; The traction wheel is arranged in the mechanical arm base and is drivingly connected to the corresponding driving part. The traction wheel is connected to the second end of the traction rope.

7. The traction-type flexible micro-mechanical arm according to claim 6, characterized in that: The driving part is a motor, and there are four motors, namely a first motor, a second motor, a third motor and a fourth motor, wherein the first motor and the second motor are symmetrically arranged on both sides of the robot arm base, the third motor is located on the same side as the first motor, and the fourth motor is located on the same side as the second motor, and the first motor, the second motor, the third motor and the fourth motor have the same rotation direction; The traction wheels include four, namely, a first traction wheel, a second traction wheel, a third traction wheel and a fourth traction wheel, the motor shaft of the first motor is drivingly connected to the first traction wheel through an elastic coupling, and the motor shaft of the second motor is drivingly connected to the second traction wheel through an elastic coupling; The motor shaft of the third motor is connected to a first gear, a first gear shaft is provided on the inner side of the mechanical arm base, a first end of the first gear shaft is rotatably connected to one side of the mechanical arm base, and a second end is rotatably connected to the other side of the mechanical arm base, the third traction wheel is fixedly connected to the first gear shaft, a first slave gear is fixedly connected to a side of the first gear shaft close to the first gear, and the first slave gear is meshed with the first gear; The motor shaft of the fourth motor is connected to a second gear, a second gear shaft is provided on the inner side of the mechanical arm base, a first end of the second gear shaft is rotatably connected to one side of the mechanical arm base, and a second end is rotatably connected to the other side of the mechanical arm base, the fourth traction wheel is fixedly connected to the second gear shaft, a second slave gear is fixedly connected to a side of the second gear shaft close to the second gear, and the second slave gear is meshed with the second gear; The traction ropes include four ropes, namely a first traction rope, a second traction rope, a third traction rope and a fourth traction rope. The first end of the first traction rope, the first end of the second traction rope, the first end of the third traction rope and the first end of the fourth traction rope are all connected to the boom platform close to one end of the terminal connector, the end of the second end of the first traction rope is connected to the first traction wheel, the end of the second end of the second traction rope is connected to the second traction wheel, the end of the second end of the third traction rope is connected to the third traction wheel, and the end of the second end of the fourth traction rope is connected to the fourth traction wheel.

8. The traction-type flexible micro-mechanical arm according to claim 7, characterized in that: Rolling bearings are arranged between the two ends of the first gear shaft and the robotic arm base, and between the two ends of the second gear shaft and the robotic arm base. The first motor, the second motor, the third motor and the fourth motor have the same structure, through holes are opened at the four corners, and are fixed to the robotic arm base by screws.

9. The traction-type flexible micro-mechanical arm according to claim 7, characterized in that: A motor jacket is provided between the third motor and the mechanical arm base, and between the fourth motor and the mechanical arm base.

10. The traction-type flexible micro-mechanical arm according to claim 3, characterized in that: A plurality of LED lights are arranged on the top of the arm section platform connected to the terminal connecting piece.

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