Mechanical arm structure convenient to mount long arm

Abstract

The utility model relates to the technical field of mechanical arms, and particularly discloses a mechanical arm structure convenient for mounting a long arm, which comprises a first joint, a second joint and a connecting arm matched with the first joint and the second joint for use, and the connecting arm is used for connecting the first joint and the second joint; a first connecting part and a second connecting part are arranged on the first joint and the second joint respectively, the two ends of the connecting arm are the same in structure, the ends, close to each other, of the first connecting part and the second connecting part are the same in structure and used for being connected with the two ends of the connecting arm, and each connecting part is provided with a middle part and inserting cylinders located on the two sides of the middle part respectively; the two sides of the middle part are used for stopping and abutting against the joint and the connecting arm, the inserting cylinders on the two sides of the middle part are inserted into the joint and the connecting arm correspondingly, it is guaranteed that the connecting arm is stably connected with the first joint and the second joint, force distribution is balanced, and therefore the structural stability and the bearing capacity of the whole mechanical arm are enhanced.

Description

Technical Field

[0001] The utility model relates to the technical field of mechanical arms, and in particular discloses a long-arm portable mechanical arm structure. Background Art

[0002] A robotic arm is a highly automated and flexible mechanical device that imitates the functions of human arms and can move in multiple directions and precisely position. A robotic arm is usually composed of multiple joints and connecting rods. These joints can be rotating (similar to human arms) or moving in a straight line (similar to straightening and bending human fingers). Controlled by computer programs, the robotic arm can perform a variety of complex tasks, such as grasping, moving, assembling, welding, cutting, painting, etc.

[0003] With the development of industrialization, robotic arms are widely used, but the various parts of existing robotic arms are different. It takes a lot of time and energy to load and unload the various parts of the robotic arms during installation / repair and replacement, which is not conducive to improving installation efficiency. Therefore, there is an urgent need for a long-arm portable robotic arm structure. Utility Model Content

[0004] In order to overcome the shortcomings and deficiencies in the prior art that are not conducive to improving installation efficiency, the utility model aims to provide a long-arm portable mechanical arm structure.

[0005] To achieve the above-mentioned purpose, the utility model provides a long-arm portable mechanical arm structure, comprising a first joint, a second joint, a connecting arm used in conjunction with the first joint and the second joint, the connecting arm being used to connect the first joint and the second joint; and also comprising a base used in conjunction with the first joint and an execution end used in conjunction with the second joint;

[0006] The first joint and the second joint are respectively provided with a first connecting part and a second connecting part, and the two ends of the connecting arm have the same structure. The end of the first connecting part close to the second connecting part has the same structure for connecting with the two end parts of the connecting arm; the connecting part has a middle part and plug-in tubes respectively located on both sides of the middle part, and the two sides of the middle part are used to stop and interfere with the joint and the connecting arm, and the plug-in tubes on both sides of the middle part are respectively inserted into the joint and the connecting arm.

[0007] Preferably, the outer sides of the ends of the connecting portion used to connect the joint and the connecting arm are chamfered. The chamfers can guide the connecting arm and the joint to be correctly aligned during the assembly process, reducing the difficulty of assembly. Especially in conditions of limited space or poor visibility, this design can reduce assembly time and reduce the risk of damage due to improper alignment. At the same time, the chamfered design reduces the sharpness of the edge, thereby reducing wear caused by collision or friction, and removing sharp edges reduces the potential risk of scratches during operation.

[0008] Preferably, a center hole is provided on the connecting portion and passes through the connecting portion. The center hole is used for the internal wires of the robotic arm to pass through. The center hole provides a relatively closed and protected channel for the internal wires, reducing damage to the wires due to external factors (such as friction, pressure, environmental pollution, etc.). This protection extends the service life of the wires and maintains their transmission performance. Through effective wire management and protection, the wires are kept in good condition, thereby enhancing the reliability and stability of the entire system, especially during long-term operation and in complex environments.

[0009] Preferably, an annular protrusion is also provided on the connecting portion, and the diameter of the protrusion is not less than the diameter of the end of the connecting arm. The annular protrusion provides additional contact area. When the connecting arm is combined with the connecting portion, this design can better disperse the pressure and reduce looseness caused by vibration or repetitive movement. This effect achieves a more stable and tighter connection between the connecting portion and the connecting arm, and improves the overall stability and reliability of the mechanical structure. The existence of the annular protrusion guides the correct assembly position of the connecting arm and the connecting portion. The protrusion can be more intuitively seen by outside staff due to its diameter, and at the same time plays a role in resisting the joint / connecting arm, making the assembly process simpler and improving the accuracy of the assembly. This role and effect jointly ensure the rapid deployment and efficient operation of the robotic arm in production lines or automation applications.

[0010] Preferably, the first rotating part includes a first shell, a driving member located in the first shell and a first cover body arranged on the first shell. The first cover body is used to cooperate with the first shell to encapsulate / protect the driving member. The first cover body and the first shell together provide protection for the driving member to prevent dust, pollutants / moisture from entering, thereby protecting the driving member from damage and extending its service life.

[0011] Preferably, a first connecting end and a second connecting end are provided on the first shell, and an identification groove is provided on the first connecting end and the second connecting end. The identification groove can be used as a guide during assembly to ensure that the parts are correctly and quickly positioned and assembled, which helps to reduce / lower assembly errors and improve assembly efficiency. At the same time, the identification groove can enable the staff to know whether there is any deviation in the resetting of the robotic arm.

[0012] Preferably, the first connecting end is rotatably connected to a base, and the base is used to be installed on an external base surface. The driving member is used to drive the first rotating part to rotate relative to the base, which helps to ensure the stability and safety of the robotic arm during operation. By driving the first rotating part to rotate relative to the base by the driving member, flexible rotation and positioning of the robotic arm can be effectively achieved.

[0013] Preferably, the second rotating part includes a second shell, and the second connecting end on the first shell is rotatably connected to the first connecting end on the second shell. Since the first shell and the second shell have the same structure, and the first connecting end and the second connecting end have the same structure, the second connecting end on the first shell and the first connecting end on the second shell can fit perfectly, effectively improving the overall aesthetics of the robotic arm structure, and at the same time helping to ensure the consistency and stability of the entire product during use.

[0014] Preferably, the driving member on the second shell is used to drive the second rotating part to rotate relative to the first rotating part. The rotation axis of the second rotating part is perpendicular to the rotation axis of the first rotating part. Two independent rotational degrees of freedom are provided through the vertically arranged rotation axis, allowing the device to rotate on two different planes, thereby greatly enhancing its flexibility and adaptability. At the same time, the vertical configuration of the rotation axis helps to minimize mechanical interference, so that each component can move independently without colliding with each other, which is beneficial to improving the reliability and durability of the equipment.

[0015] Preferably, the robotic arm structure also includes a third joint used in conjunction with the first joint and the second joint, and the connecting arm includes a first connecting arm for connecting the first joint and the third joint, and a second connecting arm for connecting the third joint and the second joint. By introducing the third joint and using two connecting arms to respectively connect the first joint and the second joint, this structure can increase the flexibility of the robotic arm, enabling it to operate in a larger spatial range. At the same time, by using two connecting arms to respectively connect the first joint, the third joint and the second joint, the force and load can be more effectively dispersed to avoid excessive stress concentrated on a single joint or connection point, thereby improving the durability and reliability of the entire robotic arm.

[0016] Preferably, the first connecting arm and the second connecting arm have the same structure and size. The same structure and size help these components to be manufactured through a standardized production process, simplifying the production and assembly processes. At the same time, this modular design also helps to reduce design and production costs, improve production efficiency and reliability. Due to the consistency of structure and size, maintenance personnel can more easily identify and replace damaged parts, simplifying the logistics and storage process, and reducing maintenance costs.

[0017] The beneficial effects of the utility model are as follows: through the design that the ends of the first connecting part and the second connecting part close to each other have the same structure and are used to connect to the two end parts of the connecting arm, this symmetrical connection method not only ensures a firm connection between the connecting arm and the first joint and the second joint, but also balances the force distribution, thereby enhancing the structural stability and carrying capacity of the entire robotic arm. At the same time, the plug-in type and structurally identical design greatly simplifies the assembly and disassembly process, making the maintenance, adjustment or upgrade of the robotic arm faster and more convenient. Through the design that the plug-in tube is inserted into the joint and the connecting arm respectively, this deep-structure fixing method not only ensures the firmness of the connection, but also effectively reduces the looseness problem caused by vibration or long-term use, thereby enhancing the overall durability of the robotic arm. BRIEF DESCRIPTION OF THE DRAWINGS

[0018] Figure 1 It is a schematic diagram of the main structure of the utility model;

[0019] Figure 2 It is a schematic diagram of the joint structure of the utility model;

[0020] Figure 3 It is a schematic plan view of the main body of the utility model;

[0021] Figure 4 This is a schematic diagram of the structure of the rotating part of the utility model;

[0022] Figure 5 This is one of the schematic diagrams of the connection between the connecting arm and the connecting part of the utility model;

[0023] Figure 6 This is the second schematic diagram of the connection between the connecting arm and the connecting part of the utility model;

[0024] Figure 7 It is a schematic diagram of the connecting part structure of the utility model.

[0025] Reference numerals include:

[0026] 1 - first joint 2 - second joint 4 - third joint

[0027] 5—first rotating part 6—second rotating part 7—base

[0028] 22 - execution end 31 - first connecting arm 32 - second connecting arm

[0029] 33 - first connection part 34 - second connection part 51 - first housing

[0030] 52 - first cover 53 - first connection end 54 - second connection end

[0031] 55—marking groove 56—driving member 61—second housing

[0032] 62 - second cover 35 - protrusion 36 - chamfer

[0033] 37—Center hole DETAILED DESCRIPTION

[0034] In order to facilitate the understanding of those skilled in the art, the present invention is further described below in conjunction with embodiments and drawings. The contents mentioned in the implementation modes are not intended to limit the present invention.

[0035] See also Figures 1 to 7 As shown, a long-arm portable mechanical arm structure of the utility model includes a first joint 1, a second joint 2, a connecting arm used in conjunction with the first joint 1 and the second joint 2, and the connecting arm is used to connect the first joint 1 and the second joint 2; and also includes a base 7 used in conjunction with the first joint 1 and an execution end 22 used in conjunction with the second joint 2;

[0036] The first joint 1 and the second joint 2 are respectively provided with a first connecting part 33 and a second connecting part 34, and the two ends of the connecting arm have the same structure. The end of the first connecting part 33 close to the second connecting part 34 has the same structure for connecting with the two ends of the connecting arm; the connecting part has a middle part and plug-in tubes respectively located on both sides of the middle part, and the two sides of the middle part are used to stop the joint and the connecting arm, and the plug-in tubes on both sides of the middle part are respectively inserted into the joint and the connecting arm.

[0037] Specifically, a chamfer is provided on the outer side of the free end of the plug-in tube to facilitate the insertion of the plug-in tube into the joint / connecting arm.

[0038] Specifically, the first connecting portion 33 and the second connecting portion 34 are designed to be connected to the two ends of the connecting arm by having the same structure at one end close to the first connecting portion 33 and the second connecting portion 34. This symmetrical connection method not only ensures a firm connection between the connecting arm and the first joint 1 and the second joint 2, but also balances the force distribution, thereby enhancing the structural stability and carrying capacity of the entire robotic arm. At the same time, the plug-in type and structurally identical design greatly simplifies the assembly and disassembly process, making the maintenance, adjustment or upgrade of the robotic arm faster and more convenient. The design of inserting the plug-in tube into the joint and the connecting arm respectively, this deep-structure fixing method not only ensures the firmness of the connection, but also effectively reduces the looseness problem caused by vibration or long-term use, thereby enhancing the overall durability of the robotic arm.

[0039] By making the first connection part 33 and the second connection part 34 have the same structure as the two ends of the connecting arm, the assembly process of the robot arm can be simplified, because either end of the connecting arm can be matched with the connection part of any joint, reducing the possibility of assembly errors. This design also simplifies maintenance and component replacement, because the same connecting arm can be used in multiple positions, and the unified connection part design helps to maintain the structural stability and consistency of the robot arm. Especially in high-load or high-precision applications, similar connection methods ensure that the load and stress are evenly distributed among the various parts of the robot arm, reducing the stress concentration problem caused by mismatched connections. The simplified assembly and interchangeability enable the robot arm to more flexibly respond to different usage scenarios and task requirements, including but not limited to replacing different types of actuators, adjusting the length or configuration of the robot arm, etc. By reducing the need for specific connectors, production, storage and maintenance costs are reduced. In addition, the simplified design and assembly process reduces labor costs and potential error correction costs. At the same time, the unified connection design increases the structural integrity of the robot arm and improves its reliability and durability in harsh environments.

[0040] Specifically, the outer sides of the ends of the connecting portion used to connect the joint and the connecting arm are both provided with chamfers 36. The chamfers can guide the connecting arm and the joint to be correctly aligned during the assembly process, thereby reducing the difficulty of assembly. Especially in cases where space is limited or visibility is poor, this design can reduce assembly time and reduce the risk of damage caused by improper alignment. At the same time, the chamfer design reduces the sharpness of the edge, thereby reducing wear caused by collision or friction, and removing sharp edges reduces the potential risk of scratches during operation.

[0041] Specifically, a center hole 37 is opened on the connection part and passes through the connection part. The center hole 37 is used for the internal wires of the robot arm to pass through. The center hole 37 provides a relatively closed and protected channel for the internal wires, reducing the damage to the wires due to external factors (such as friction, pressure, environmental pollution, etc.). This protection extends the service life of the wires and maintains their transmission performance. Through effective wire management and protection, the wires are kept in good condition, thereby enhancing the reliability and stability of the entire system, especially under long-term operation and in complex environments.

[0042] Specifically, a rubber pad / soft brush may be provided on the inner wall of the central hole 37 to further reduce the friction of the wire.

[0043] Specifically, an annular protrusion 35 is also provided on the connecting part, and the diameter of the protrusion 35 is not less than the diameter of the end of the connecting arm. The annular protrusion provides an additional contact area. When the connecting arm is combined with the connecting part, this design can better disperse the pressure and reduce the looseness caused by vibration or repetitive movement. This effect realizes a more stable and tighter connection between the connecting part and the connecting arm, and improves the overall stability and reliability of the mechanical structure. The existence of the annular protrusion guides the correct assembly position of the connecting arm and the connecting part. The protrusion 35 can be more intuitively seen by outside staff due to its diameter, and at the same time plays a role in resisting the joint / connecting arm, making the assembly process simpler and improving the assembly accuracy. This role and effect jointly ensure the rapid deployment and efficient operation of the robot arm in production lines or automation applications.

[0044] Specifically, in this embodiment, the first connection portion 33 and the second connection portion 34 may also be adhesive layers / welding layers / screws / other connection components.

[0045] Specifically, the execution end 22 is a suction cup assembly in this embodiment, and the execution end 22 may also be a clamping claw in other embodiments.

[0046] Specifically, the first joint 1 is used to cooperate with the second joint 2 to move using the driving actuator 22, and the first joint 1 and the second joint 2 have the same structure. The same structure allows the two joints to be produced through the same production process and tools, which can effectively reduce production costs and improve production efficiency. When maintenance or parts need to be replaced, two joints with the same structure can use common spare parts, reducing installation / maintenance costs and time, especially when parts need to be replaced quickly in emergency situations.

[0047] Specifically, the ends of the first connection portion 33 and the second connection portion 34 that are close to each other are the same, so that when the two joints (ie, the first joint 1 and the second joint 2) have different sizes, any end of the connecting arm can still be connected to any joint.

[0048] Specifically, the configurations in this embodiment are identical except for the dimensions.

[0049] Specifically, the first joint 1 includes a first rotating part 5, a second rotating part 6 rotatably arranged relative to the first rotating part 5, and a reducer (not shown in the figure) used in conjunction with the first rotating part 5 and the second rotating part 6. The reducer is an existing mature technology and will not be elaborated on here. The first rotating part 5 and the second rotating part 6 have the same structure. Rotating parts with the same structure can be quickly repaired or replaced, which greatly reduces the downtime of the robot arm due to maintenance. The use of standardized and universal rotating part design means that the production and supply chain of these components are more stable, reducing the risks and costs caused by shortages of special parts, while also reducing the storage requirements for different parts, reducing warehousing costs, and effectively improving the response speed to sudden maintenance needs.

[0050] Specifically, the first rotating part 5 includes a first shell 51, a driving member 56 located in the first shell 51, and a first cover body 52 arranged on the first shell 51. The driving member 56 drives the first rotating part 5 and the base 7 to rotate relative to each other via a reducer. The first cover body 52 is used to cooperate with the first shell 51 to encapsulate / protect the driving member 56. The first cover body 52 and the first shell 51 jointly provide protection for the driving member to prevent dust, pollutants / moisture from entering, thereby protecting the driving member from damage and extending its service life.

[0051] Specifically, a heat sink is disposed on the first cover 52 and / or the first shell 51 , and the heat sink is used to strengthen the structure of the first cover 52 and / or the first shell 51 and can effectively improve the heat dissipation efficiency.

[0052] Specifically, a connecting piece is provided on the first cover body 52, and the connecting piece is used to relatively fix the first cover body 52 and the first shell body 51. The connecting piece can be a bolt / fastener. By designing the first cover body to be detachable, the internal driving parts can be easily accessed and inspected, which is convenient for maintenance and repair, and can effectively make replacement of parts or troubleshooting easier.

[0053] Specifically, the first shell 51 is provided with a first connecting end 53 and a second connecting end 54, and the first connecting end 53 and the second connecting end 54 are both provided with an identification groove 55. The identification groove 55 can be used as a guide during assembly to ensure that the parts are correctly and quickly positioned and assembled, which helps to reduce / lower assembly errors and improve assembly efficiency. At the same time, the identification groove can enable the staff to know whether there is any deviation in the resetting of the robotic arm.

[0054] Specifically, when the identification grooves 55 on the first connection end 53 and the second connection end 54 are aligned, that is, when the two identification grooves 55 are located on the same straight line, it means that the first connection end 53 / the second connection end 54 is in the reset position.

[0055] Specifically, the first connection end 53 and the second connection end 54 in this embodiment are both end surfaces with threaded holes, and the first connection end 53 and the second connection end 54 are both provided with rotating parts.

[0056] Specifically, the first connecting end 53 is rotatably connected to the base 7, and the base 7 is used to be installed on an external base surface. The first rotating part 5 is driven to rotate relative to the base 7 via the driving member 56, which helps to ensure the stability and safety of the robot arm during operation. The flexible rotation and positioning of the robot arm can be effectively achieved by driving the first rotating part 5 to rotate relative to the base 7 via the driving member 56.

[0057] Specifically, the driving member 56 is used to drive the first rotating part 5 to rotate relative to the base 7, which is similar to the existing robot arm operation method and will not be described in detail here.

[0058] Specifically, the second rotating portion 6 includes a second shell 61, and the second connecting end 54 on the first shell 51 is rotatably connected to the first connecting end 53 on the second shell 61. Since the first shell 51 and the second shell 61 have the same structure, and the first connecting end 53 and the second connecting end 54 have the same structure, the second connecting end 54 on the first shell 51 and the first connecting end 53 on the second shell 61 can fit perfectly, effectively improving the overall aesthetics of the robotic arm structure, and at the same time helping to ensure the consistency and stability of the entire product during use.

[0059] Specifically, a second cover body 62 having the same structure as the first cover body 52 is further disposed on the second shell body 61 .

[0060] Specifically, a connecting component is provided between the second connecting end 54 on the first shell 51 and the first connecting end 53 on the second shell 61 . The connecting component is provided on the second connecting end 54 / first connecting end 53 for connecting the first connecting end 53 / second connecting end 54 .

[0061] Specifically, in this embodiment, the installation / connection method of the connection assembly adopts bolt connection.

[0062] Specifically, the driving member 56 on the second shell 61 is used to drive the second rotating part 6 to rotate relative to the first rotating part 5. The rotation axis of the second rotating part 6 is perpendicular to the rotation axis of the first rotating part 5. Two independent rotational degrees of freedom are provided through the vertically arranged rotation axis, allowing the device to rotate on two different planes, thereby greatly enhancing its flexibility and adaptability. At the same time, the vertical configuration of the rotation axis helps to minimize mechanical interference, so that each component can move independently without colliding with each other, which is beneficial to improving the reliability and durability of the equipment.

[0063] Specifically, the robotic arm structure also includes a third joint 4 used in conjunction with the first joint 1 and the second joint 2, and the connecting arm includes a first connecting arm 31 for connecting the first joint 1 and the third joint 4, and a second connecting arm 32 for connecting the third joint 4 and the second joint 2. By introducing the third joint 4 and using two connecting arms to respectively connect the first joint 1 and the second joint 2, this structure can increase the flexibility of the robotic arm so that it can operate in a larger spatial range. At the same time, by using two connecting arms to respectively connect the first joint 1, the third joint 4 and the second joint 2, it can more effectively disperse force and load, avoid excessive stress concentration on a single joint or connection point, thereby improving the durability and reliability of the entire robotic arm.

[0064] Specifically, the first connecting arm 31 and the second connecting arm 32 have the same structure and size. The same structure and size help these components to be manufactured through a standardized production process, simplifying the production and assembly processes. At the same time, this modular design also helps to reduce design and production costs, improve production efficiency and reliability. Due to the consistency of structure and size, maintenance personnel can more easily identify and replace damaged parts, simplifying the logistics and storage process, and reducing maintenance costs.

[0065] Specifically, in other embodiments, the joint and / or the connecting arm is provided with a limiting buckle for limiting the leakage of the wire / trachea.

[0066] Specifically, in the present embodiment, the arm body is hollow, and the inside of the arm body is connected with the joint. A wire passing assembly is also provided inside the joint, and the wire passing assembly is used in conjunction with the hollow arm body to facilitate wire passing.

[0067] Specifically, in other embodiments, the first rotating part 5 and the second rotating part 6 included in the first joint 1 are both provided with driving components, and the second joint 2 and the third joint 4 only include one driving component.

[0068] The above contents are only preferred embodiments of the present invention. For ordinary technicians in this field, according to the concept of the present invention, there will be changes in the specific implementation methods and application scopes. The contents of this specification should not be understood as limiting the present invention.

Claims

1. A long-arm portable mechanical arm structure, comprising a first joint (1), a second joint (2), and a connecting arm used in conjunction with the first joint (1) and the second joint (2); characterized in that: The first joint (1) and the second joint (2) are provided with a first connecting portion (33) and a second connecting portion (34) respectively. The two ends of the connecting arm have the same structure. The end of the first connecting portion (33) close to the second connecting portion (34) has the same structure and is used to connect with the two end portions of the connecting arm. The connecting portion comprises a middle portion and plug-in sleeves respectively located on both sides of the middle portion. The two sides of the middle portion are used to stop and resist the joint and the connecting arm. The plug-in sleeves on both sides of the middle portion are respectively inserted into the joint and the connecting arm.

2. The long-arm portable mechanical arm structure according to claim 1 is characterized in that: The connecting part is provided with a central hole (37) penetrating the connecting part, and the central hole (37) is used for the wire inside the mechanical arm to pass through.

3. The long-arm portable mechanical arm structure according to claim 1 is characterized in that: The ends of the connecting parts used for connecting the joints and the connecting arms are both provided with chamfers (36) on the outside.

4. The long-arm portable mechanical arm structure according to claim 1 is characterized in that: The connecting portion is also provided with an annular protrusion (35), and the diameter of the protrusion (35) is not less than the diameter of the end of the connecting arm.

5. The long-arm portable mechanical arm structure according to claim 1 is characterized in that: The first joint (1) comprises a first rotating part (5), a second rotating part (6) rotatably arranged relative to the first rotating part (5), and a reducer used in conjunction with the first rotating part (5) and the second rotating part (6); the first rotating part (5) and the second rotating part (6) have the same structure.

6. The long-arm portable mechanical arm structure according to claim 5, characterized in that: The mechanical arm structure includes a base (7) used in conjunction with a first rotating part (5); the first rotating part (5) includes a first shell (51), a driving member (56) located in the first shell (51), and a first cover (52) arranged on the first shell (51); the driving member (56) drives the first rotating part (5) and the base (7) to rotate relative to each other via a reducer; and the first cover (52) is used to cooperate with the first shell (51) to encapsulate / protect the driving member (56).

7. The long-arm portable mechanical arm structure according to claim 6 is characterized in that: The first shell (51) is provided with a first connecting end (53) and a second connecting end (54), and both the first connecting end (53) and the second connecting end (54) are provided with an identification groove (55).

8. The long-arm portable mechanical arm structure according to claim 7 is characterized in that: The second rotating part (6) comprises a second shell (61), and the second connecting end (54) on the first shell (51) is rotatably connected to the first connecting end (53) on the second shell (61).

9. The long-arm portable mechanical arm structure according to claim 1 is characterized in that: The mechanical arm structure also includes a third joint (4) used in conjunction with the first joint (1) and the second joint (2), and the connecting arm includes a first connecting arm (31) used to connect the first joint (1) and the third joint (4), and a second connecting arm (32) used to connect the third joint (4) and the second joint (2).

10. The long-arm portable mechanical arm structure according to claim 9, characterized in that: The first connecting arm (31) and the second connecting arm (32) have the same structure and size.

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