Highly integrated mechanical arm

Abstract

The utility model relates to a highly-integrated mechanical arm which comprises a machine base. The machine base is arranged on the ground, a large arm and a small arm are arranged on the machine base, the large arm is connected with the machine base through a first joint, and the large arm is connected with the small arm through a second joint; the device is characterized by further comprising a motor, an arc-shaped worm transmission pair and a worm support frame, the arc-shaped worm transmission pair comprises an arc-shaped worm and a worm gear which are meshed with each other; the motor is an outer rotor permanent magnet motor and comprises a motor stator and an outer rotor, the motor is arranged in the arc-shaped worm, the motor stator is connected with the worm supporting frame, and the outer rotor is connected with the arc-shaped worm; when the motor is started, the outer rotor drives the arc-shaped worm to rotate, due to the fact that the arc-shaped worm is meshed with the worm gear, the worm gear rotates along with the arc-shaped worm, and the worm gear rotates to enable the first joint and the second joint which are connected with the worm gear to move. The utility model has the beneficial effects of stable operation, convenience in maintenance, disassembly and assembly and high bearing capacity.

Description

Technical Field

[0001] The utility model relates to the technical field of mechanical arm structure design, in particular to a highly integrated mechanical arm. Background Art

[0002] The robot arm is a high-precision automated mechanical device. Due to its unique operational flexibility, it is widely used in industrial assembly, medical treatment, military, etc. It can accept control instructions and accurately locate a certain point in space to perform operations. The structural design of the robot arm is a crucial part of the robot arm design, especially the joint part of the robot arm, which is the most important basic component of the robot arm. It is the core of the connection, movement, and positioning between the robot arm itself and other components. The transmission of the robot arm joint requires a short transmission chain and a small size, a large torque but a strong enough load-bearing capacity, and sufficient rotation accuracy and operation position orientation to ensure that the robot arm is stable and accurate during operation.

[0003] The design team previously designed a joint deceleration device that can achieve secondary deceleration at the joint of the robotic arm so as to transmit greater torque and improve the load-bearing capacity; however, the device is not stable enough in driving the motor operation and is not convenient enough in the maintenance and disassembly of the motor; therefore, based on a previously designed robotic arm joint deceleration device, and based on the deficiencies fed back during the operation and operation of the device, the design team made improvements based on the defects and deficiencies raised to overcome the above problems. Utility Model Content

[0004] The utility model aims to overcome the shortcomings of the prior art and provide a highly integrated mechanical arm which is more stable in operation, convenient for maintenance and disassembly and has a higher bearing capacity.

[0005] The purpose of the utility model is achieved through the following technical solutions: a highly integrated mechanical arm, including a machine base; the machine base is arranged on the ground and a large arm and a small arm are arranged on the machine base, the large arm and the machine base are connected through a first joint, and the large arm and the small arm are connected through a second joint; it is characterized in that it also includes a motor, an arc-shaped worm gear transmission pair, and a worm support frame;

[0006] The arcuate worm gear transmission pair comprises an arcuate worm and a worm wheel meshing with each other;

[0007] The motor is an outer rotor permanent magnet motor, comprising a motor stator and an outer rotor, the motor is arranged inside the arc-shaped worm, the motor stator is connected to the worm support frame, and the outer rotor is connected to the arc-shaped worm;

[0008] When the motor is started, the outer rotor drives the arc-shaped worm to rotate. Since the arc-shaped worm is meshed with the worm wheel, the worm wheel also rotates. The rotation of the worm wheel causes the first joint and the second joint connected thereto to move.

[0009] As a preferred technical solution of the present application, the arcuate worm is arranged on the inner side of the worm wheel and meshes with it, and an angular contact ball bearing is arranged between the arcuate worm and the motor stator, and the angular contact ball bearing can transmit axial force and support the arcuate worm.

[0010] As a preferred technical solution of the present application, two arc-shaped worms are arranged respectively on both sides of the worm support frame, the worm support frame is I-shaped, and connecting shafts extend from both ends of the motor stator and are connected to the cross frame of the worm support frame.

[0011] As a preferred technical solution of the present application, a lifting part is arranged in the horizontal frame of the worm support frame, and the lifting part includes a lifting screw and a limit seat;

[0012] A keyway is provided on the limit seat, which is adapted to be inserted with a flat key on a connecting shaft extending from the motor stator. A first connecting block is provided on the side of the limit seat, and the lifting screw is inserted in the first connecting block.

[0013] When the lifting screw is rotated, the first connecting block can be driven to move up and down, thereby moving the limit seat, so that the motor and the arc worm are driven to move up and down, and the meshing of the tooth surface of the arc worm and the worm wheel can be adjusted.

[0014] As a preferred technical solution of the present application, the arc-shaped worm is symmetrically arranged on the left and right sides of the worm support frame to ensure the overall force balance of the transmission pair.

[0015] As a preferred technical solution of the present application, the upper and lower ends of the upper arm are respectively provided with connecting plates connected to the worm gears in the first joint and the second joint, and the interior of the upper arm is hollow, which can reduce the weight of the entire robotic arm and reduce the adverse vibration of the overall structure of the robotic arm during operation.

[0016] The utility model has the following advantages:

[0017] (1) The overall mechanism is more stable during operation;

[0018] The design team previously designed a device for achieving deceleration at the joint, which uses an inner rotor servo motor as the drive motor, and uses a drum-shaped worm and worm wheel 11 transmission pair for transmission. The inner rotor servo motor is not stable enough when the overall mechanism is running; this solution uses an outer rotor permanent magnet motor as the drive motor, and uses an arc-shaped worm and worm wheel as a transmission pair to transmit the driving force. The outer rotor motor has a larger moment of inertia than the inner rotor motor, which can improve the stability of the motor during operation - even if the overall mechanism is more stable during operation, and the outer rotor is relatively small in size and axial size, which ensures the stability of the mechanism and is conducive to the high integration of the robot arm drive mechanism, making the structure more compact; at the same time, this solution is provided with a lifting part on the worm support, and the lifting screw is used to move the arc worm in the up and down directions, so as to more conveniently adjust the tooth surface meshing between the arc worm and the worm wheel, which can make the meshing between the worm wheel and the arc worm better, and facilitate the stable operation of the device;

[0019] (2) Easy to maintain and disassemble;

[0020] The existing robotic arm uses an inner rotor servo motor as a drive, which is not convenient in terms of maintenance and disassembly. After long-term use, it may wear out faster and reduce its service life due to difficulty in maintenance and lubrication. This solution uses an outer rotor permanent magnet motor set inside the arc worm as a drive. Its structure is relatively simple, and disassembly and maintenance are relatively convenient. In addition, the outer rotor motor is more suitable for occasions that require larger torque and high-speed operation.

[0021] (3) Higher carrying capacity;

[0022] This solution uses an arcuate worm and a flat worm wheel 11 as a transmission pair. When transmitting the same power, the arcuate worm has a higher load-bearing capacity than a general worm. At the same time, this solution is provided with a worm support frame to assist the outer rotor in rotating. The worm support frame and the outer rotor are connected by angular contact ball bearings. Angular contact ball bearings can withstand greater axial loads than other ball bearings, and are suitable for use in mechanisms such as robotic arms that have high load-bearing requirements. BRIEF DESCRIPTION OF THE DRAWINGS

[0023] Figure 1 It is a structural schematic diagram of the utility model from the first perspective;

[0024] Figure 2 This is a schematic diagram of the structure of the utility model from a front half-section perspective;

[0025] Figure 3 This is a schematic diagram of the structure of the utility model after the first joint is connected to the upper arm;

[0026] Figure 4This is a schematic diagram of the structure of the first joint of the utility model from a side view;

[0027] Figure 5 It is a structural schematic diagram of the first joint of the utility model from a front half-section perspective;

[0028] Figure 6 It is a structural schematic diagram of the transmission part of the utility model from the first perspective;

[0029] Figure 7 It is a structural schematic diagram of the transmission part of the utility model from a half-section perspective;

[0030] Figure 8 This is a structural schematic diagram of the lifting part of the utility model from the first perspective;

[0031] Fig. 9 This is a schematic diagram of the structure of the lifting part and the worm gear of the utility model after they are matched;

[0032] In the figure: 1-base frame, 2-support foot, 3-first joint, 4-second joint, 5-upper arm, 6-main arm, 7-elbow, 8-wrist, 9-motor, 10-arc worm, 11-worm wheel, 12-motor stator, 13-outer rotor, 14-lifting screw, 15-limit seat, 16-angular contact ball bearing, 17-first joint housing, 18-second joint housing, 19-handle, 20-flat key, 21-worm support frame, 22-connecting shaft, 23-rotating part, 24-guide rod, 25-connecting plate, 26-keyway. DETAILED DESCRIPTION

[0033] The present invention is further described below in conjunction with the accompanying drawings, but the protection scope of the present invention is not limited to the following description.

[0034] It should be noted that the directions or positional relationships indicated by "left", "right", etc. are based on the directions or positional relationships shown in the accompanying drawings, or are the directions or positional relationships in which the inventive product is usually placed when in use, or are the directions or positional relationships commonly understood by those skilled in the art. Such terms are only for the convenience of describing the present invention and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific direction, be constructed and operated in a specific direction, and therefore cannot be understood as a limitation on the present invention.

[0035] It should be noted that, in the absence of conflict, the embodiments of the present invention and the features and technical solutions in the embodiments may be combined with each other.

[0036] Therefore, based on the above issues, see Figure 1 , the utility model proposes a highly integrated mechanical arm to solve the problem.

[0037] (Example)

[0038] See also Figures 1 to 9 , a highly centralized mechanical arm proposed in this embodiment includes a base, a first joint 3, an upper arm 5, a second joint 4, and a lower arm;

[0039] Among them, see Figure 1 , a support foot 2 is provided at the bottom of the base, so that it can be placed stably on the ground;

[0040] Among them, see Figure 1 and Figure 2 The first joint 3 is arranged on the machine base, and the first joint 3 is connected to one end of the upper arm 5, the other end of the upper arm 5 is connected to the second joint 4, and the second joint 4 is also connected to the forearm;

[0041] Among them, see Figure 2 , the first joint 3 and the second joint 4 are both provided with a transmission part, the transmission part includes a motor 9 and a worm gear transmission pair;

[0042] Among them, see Figure 5-Figure 7 The worm gear transmission pair includes an arcuate worm 10 and a worm wheel 11, and the tooth surfaces of the arcuate worm 10 and the worm wheel 11 are meshed with each other;

[0043] Among them, see Figure 7 The motor 9 is arranged inside the arc-shaped worm 10, and the rotation of the motor 9 causes the arc-shaped worm 10 to rotate accordingly, and an angular contact ball bearing 16 is also arranged between the motor 9 and the arc-shaped worm 10, and the angular contact ball bearing 16 can transmit axial force and support the arc-shaped worm 10;

[0044] Among them, see Figure 5-Figure 7 , further comprising a worm support frame 21, the worm support frame 21 is installed in the worm wheel 11 through the central axis, two arc-shaped worms 10 equipped with motors 9 are arranged on both sides of the worm support frame 21, and the worm support frame 21 can assist and support the transmission pair of the arc-shaped worm 10 to rotate;

[0045] When the robot arm starts to move, the motor 9 is started first, and the arc-shaped worm 10 starts to rotate. Since the arc-shaped worm 10 and the worm wheel 11 are meshed with each other, the driving force is transmitted to the worm wheel 11 to rotate the worm wheel 11. The worm wheel 11 is connected to the upper arm 5 and the lower arm. Therefore, when the motor 9 at the corresponding joint is started, the worm wheel 11 rotates, which can drive the upper arm 5 to move through the transmission shaft, and the worm wheel 11 at the second joint 4 directly drives the lower arm to move.

[0046] At present, the existing design of the robot arm mainly focuses on how to drive the joint of the robot arm. The load-bearing capacity of the existing robot arm joint drive device is not high enough. The motor 9 usually installed in the transmission part is an inner rotor servo motor 9, but the inner rotor servo motor 9 is not convenient for maintenance and the operation is not stable enough. In order to improve the load-bearing capacity of the joint and transmit a larger torque, the design team has improved and designed a highly integrated robot arm on the basis of the previous design. The joint transmission part composed of the arc worm 10, worm wheel 11 transmission pair and the outer rotor 13 permanent magnet motor 9 fully utilizes the characteristics of the arc worm 10 transmission pair, the load-bearing capacity becomes larger, and the stability is enhanced; the outer rotor 13 motor 9 is used, the maintenance is more convenient, and the volume of the outer rotor 13 is smaller, so that the operation of the mechanism is more stable, and the arc worm 10 is used instead of the drum worm. The arc worm 10 has a higher precision, so the loss caused by friction is less; at the same time, the scheme adopts an angular contact ball bearing 16 between the outer rotor 13 and the worm support frame 21. The angular contact ball bearing 16 can withstand a larger axial load, is suitable for high-speed and high-precision mechanisms, and runs smoothly.

[0047] In this embodiment, refer to Figure 1 As for the machine base, the machine base includes a base frame 1 and a rotating part 23. A square base frame 1 is arranged at the bottom of the machine base. Support legs 2 are provided at four top corners below the base frame, so that it can be placed stably on the ground. A rotating part 23 is arranged above the base frame 1, which can rotate circumferentially to adjust the movement direction of the upper arm 5 and the lower arm. A turntable is arranged on the rotating part 23, and a ball bearing sleeve is arranged outside the rotating part 23 to facilitate the rotation of the rotating part 23, and a first joint 3 is installed on the turntable.

[0048] In this embodiment, refer to Figure 4-Figure 7 , for the design of the first joint 3, the first joint 3 also includes a first joint housing 17; the first joint housing 17 is an irregular cover cylinder shape, which can cover the transmission part inside, and the lower end of the first joint housing 17 is connected and fixed to the turntable of the machine base by screws; a circular groove is opened inside the housing, and a worm wheel 11 is adapted to be installed in the circular groove, and the tooth surface of the worm wheel 11 is inward, and a worm support frame 21 is arranged in the worm wheel 11, and the worm support frame 21 is an I-shaped bracket, and the arc worm 10 is arranged on both sides of the worm support frame 21, and the tooth surface of the arc worm 10 is opposite to the tooth surface of the worm wheel 11 and meshes with each other; the motor 9 is arranged inside the arc worm 10, and the motor 9 is an outer rotor 13 permanent magnet motor 9, including a motor stator 12 and an outer rotor 13, and both ends of the motor stator 12 are connected to the worm support frame 21 through a connecting shaft 22, and the outer rotor 13 is connected to the arc worm 10, and the rotation of the motor 9 can be transmitted to the arc worm 10.

[0049] Furthermore, a central axis is provided through the center position of the worm support frame 21, and the two ends of the central axis are respectively connected to the connecting plates 25 on both sides of the upper arm 5 by screws. A sleeve A is provided on the outside of the worm wheel 11, and a sleeve B is provided on the central axis located in the outer shell. Sleeve A and sleeve B can protect and support the rotation of the worm transmission pair; when the outer rotor 13 permanent magnet motor 9 is started, the motor 9 rotates to drive the arc worm 10 to rotate around the axis of the motor 9 through the outer rotor 13. When rotating, its tooth surface engages with the tooth surface of the worm wheel 11, thereby driving the worm wheel 11 to rotate, thereby transmitting the driving force to the joint connection of the mechanical arm, and driving the upper arm 5 to move through the transmission shaft.

[0050] Furthermore, an angular contact ball bearing 16 is arranged between the motor stator 12 and the arc-shaped worm 10, and the angular contact ball bearing 16 is symmetrically arranged in the motor 9. The angular contact ball bearing 16 can transmit axial force and support the arc-shaped worm 10; two arc-shaped worms 10 are installed inside the worm wheel 11 and are symmetrically arranged, and both sides of the worm support frame 21 are meshed with the tooth surface of the worm wheel 11.

[0051] In this embodiment, refer to Figure 1-Figure 2 For the second joint 4, the second joint housing 18 is cylindrical, and the transmission part is also arranged inside it. The upper end of the second joint 4 is connected to the forearm, and the lower end is movably connected to the upper part of the upper arm 5; the structural arrangement of the transmission part in the second joint 4 is the same as that of the first joint 3. The motor 9 is started in the same way, and the outer rotor 13 of the motor 9 rotates to rotate the arc-shaped worm 10, thereby driving the worm wheel 11 meshing with it to rotate. The worm wheel 11 is directly connected to the groove connecting plate 25 on the upper part of the upper arm 5, and the driving force is directly transmitted without passing through the transmission shaft, thereby causing the forearm to move.

[0052] In this embodiment, refer to Figure 8 and Fig. 9 , also includes a lifting part, which includes a lifting screw 14 and a limit seat 15; since the motor 9 is arranged in the arc-shaped worm 10, the connecting shafts 22 at both ends of the motor stator 12 are extended and connected to the worm support frame 21 through the lifting part, and flat keys 20 are provided on the connecting shafts 22 at both ends of the motor stator 12, which are matched and installed with the key slots 26 on the limit seat 15. The limit seat 15 is a rectangular block, and a first connecting block is fixedly connected to one side of the limit seat 15. The lifting screw 14 is inserted into the first connecting block (the first connecting block and the lifting screw 14 are threaded), and a handle 19 is also provided at the top of the lifting screw 14. When the handle 19 is turned, the lifting screw 14 can be driven to rotate, and the lifting screw 14 drives the first connecting block to move up and down-that is, the limit seat 15 moves up and down, so that the arc-shaped worm 10 can move up and down to adjust the tooth surface meshing condition between the arc-shaped worm 10 and the worm wheel 11.

[0053] Furthermore, a groove is arranged inside the cross frame of the worm corresponding to the worm support frame 21 - that is, a total of four grooves are opened inside the cross frame of the worm support frame 21, and the lifting screw 14 and the first connecting block are arranged in the groove; a guide rod 24 is arranged on the worm support frame 21, and the guide rod 24 is vertically arranged on the side of the limit seat 15, and a guide block is opened on the side of the limit seat 15, and the guide block is adapted to be installed on the guide rod 24. When the limit seat 15 moves up and down, the guide block also moves on the guide rod 24 to prevent the limit seat 15 from tilting.

[0054] In this embodiment, refer to Figure 2 and Figure 3 As for the upper arm 5, the upper arm 5 is an I-shaped connecting arm, and the lower end of the upper arm 5 is recessed inward to form a groove, and the groove at the lower end is adapted to be inserted into the first joint 3. When the transmission part located in the first joint 3 is started for transmission, the rotating worm gear 11 drives the upper arm 5 to rotate through the transmission shaft; similarly, the upper end of the upper arm 5 is also recessed inward to form a groove structure, and the groove at the upper end is adapted to be inserted into the second joint 4. Connecting plates 25 are also arranged on both sides of the inner side of the groove at the upper end of the upper arm 5, which are connected to the worm gears 11 on both sides of the second joint 4.

[0055] Furthermore, in addition to the connecting plate 25 connecting the first joint 3 and the second joint 4 at the upper and lower ends of the upper arm 5, the interior of the upper arm 5 is a hollow structure, which can reduce the weight of the robotic arm, making the robotic arm lighter and more flexible. At the same time, the hollowness of the robotic arm can reduce the jitter and vibration of the overall structure of the robotic arm, avoiding work errors caused by adverse vibrations.

[0056] In this embodiment, refer to Figure 1 and Figure 2 As for the forearm, the forearm includes a main arm 6, an elbow 7 and a wrist 8; the forearm is arranged horizontally above the second joint 4, the lower surface of the elbow 7 is connected to the second joint 4, one end of the elbow 7 is connected to the main arm 6, and the tail end of the main arm 6 is recessed inward to form a groove, and a wrist 8 is clamped and fixed in the groove. The present robot arm can complete more precise movements and work through the smaller wrist 8.

[0057] The utility model is a highly integrated mechanical arm, in which the driving components for the mechanical arm to move are located at the joint positions of the mechanical arm. Through the cooperation of the permanent magnet motor 9 of the outer rotor 13 and the worm gear 11, the drive of the mechanical arm of this scheme can be highly integrated, making its structure more compact and its bearing capacity higher. This scheme first starts the motor 9 in the transmission part located at the joint. Through the rotation of the motor 9, the outer rotor 13 of the motor 9 rotates to drive the arc worm 10 to rotate, and the arc worm 10 drives the worm gear 11 meshing with it to rotate, so that the driving force can be transmitted to the mechanical arm joint. The mechanical arm joint is connected to the upper arm 5 and the lower arm through a central axis, so that the upper arm 5 and the lower arm can move.

[0058] The existing design of the robotic arm generally focuses on the joints that serve as the driving part and the rotating part. However, the existing joint reducer currently uses an inner rotor servo motor 9 as the motor 9 drive, and adopts a general worm and worm wheel 11 for transmission. Its load-bearing capacity is not high enough, and the inner rotor servo motor 9 is not convenient for maintenance and disassembly, and the operation is not stable enough. Based on these problems, the design team has made an improved design and designed a transmission part composed of an arc worm 10 transmission pair and an outer rotor 13 permanent magnet motor 9. While increasing the load-bearing capacity, the outer rotor 13 motor 9 has a larger moment of inertia than the inner rotor motor 9, which is beneficial to improving the stability of the motor 9 operation - the overall mechanism has better stability during operation, and the outer rotor 13 is relatively small in size, especially the small axial size, which ensures the stability of the mechanism; and because the longitudinal size of the outer rotor 13 motor 9 is relatively smaller, it has better spatial adaptability and can be adaptively installed in robotic arms of different sizes; the outer rotor 13 motor 9 has a simpler structure, and is convenient for maintenance and disassembly; the present design adopts an arc worm 10 and a flat worm wheel 11 as a transmission pair, and the arc worm 10 has a relatively high bearing capacity. When transmitting the same power, the arc worm 10 has a higher bearing capacity and dynamic performance than a general worm; at the same time, the present scheme is also provided with a worm support frame 21 to assist the outer rotor 13 in rotating, and an angular contact ball bearing 16 is used to connect the worm support frame 21 and the outer rotor 13. The angular contact ball bearing 16 can withstand a larger axial load than other ball bearings. For a mechanism such as a mechanical arm that has very high requirements for bearing capacity, the angular contact ball bearing 16 can be used in high-speed and high-precision occasions, can have a higher speed and has obvious advantages in terms of running stability; at the same time, a lifting part is provided in the driving device of the joint, which can move the arc worm 10 up and down, can adjust the meshing between the arc worm 10 and the worm wheel 11, and is more convenient for installation and disassembly.

[0059] Finally, it should be noted that the above description is only a preferred embodiment of the utility model and is not intended to limit the utility model. Although the utility model is described in detail with reference to the above embodiments, those skilled in the art can still modify the technical solutions recorded in the above embodiments or replace some of the technical features therein by equivalents. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the utility model shall be included in the protection scope of the utility model.

Claims

1. A highly integrated mechanical arm, comprising a machine base; the machine base is arranged on the ground and a large arm (5) and a small arm are arranged on the machine base, the large arm (5) and the machine base are connected via a first joint (3), and the large arm (5) and the small arm are connected via a second joint (4); characterized in that: It also includes a motor (9), an arc-shaped worm (10) transmission pair, and a worm support frame (21); The arc-shaped worm (10) transmission pair comprises an arc-shaped worm (10) and a worm wheel (11) meshing with each other; The motor (9) is an outer rotor (13) permanent magnet motor (9), comprising a motor stator (12) and an outer rotor (13); the motor (9) is arranged inside an arc-shaped worm (10); the motor stator (12) is connected to a worm support frame (21); and the outer rotor (13) is connected to the arc-shaped worm (10); When the motor (9) is started, the outer rotor (13) drives the arc-shaped worm (10) to rotate. Since the arc-shaped worm (10) is meshed with the worm wheel (11), the worm wheel (11) also rotates accordingly. The rotation of the worm wheel (11) causes the first joint (3) and the second joint (4) connected thereto to move.

2. A highly integrated robotic arm according to claim 1, characterized in that: The arc-shaped worm (10) is arranged on the inner side of the worm wheel (11) and meshes with the worm wheel, and an angular contact ball bearing (16) is arranged between the arc-shaped worm (10) and the motor stator (12), and the angular contact ball bearing (16) can transmit axial force and support the arc-shaped worm (10).

3. A highly integrated robotic arm according to claim 2, characterized in that: The arc-shaped worm (10) is provided with two respectively located on both sides of the worm support frame (21); the worm support frame (21) is in an I-shape; connecting shafts (22) extend from both ends of the motor stator (12) and are connected to the cross frame of the worm support frame (21).

4. A highly integrated robotic arm according to claim 3, characterized in that: A lifting part is arranged inside the horizontal frame of the worm support frame (21), and the lifting part comprises a lifting screw (14) and a limiting seat (15); A keyway (26) is provided on the limit seat (15) and is adapted to be inserted into a flat key (20) on a connecting shaft (22) extending from the motor stator (12). A first connecting block is provided on the side of the limit seat (15), and the lifting screw (14) is inserted into the first connecting block. When the lifting screw (14) is rotated, the first connecting block can be driven to move up and down, thereby moving the limit seat (15), so that the motor (9) and the arc-shaped worm (10) are driven to move up and down, and the meshing of the tooth surfaces of the arc-shaped worm (10) and the worm wheel (11) can be adjusted.

5. The highly integrated robotic arm according to claim 2, characterized in that: The arc-shaped worm (10) is symmetrically arranged on the left and right sides of the worm support frame (21) to ensure that the overall force balance of the transmission pair is ensured.

6. A highly integrated robotic arm according to claim 1, characterized in that: The upper and lower ends of the upper arm (5) are respectively provided with connecting plates (25) connected to the worm gears (11) in the first joint (3) and the second joint (4), and the upper arm (5) is hollow inside, which can reduce the load of the entire mechanical arm and reduce the adverse vibration of the entire structure of the mechanical arm when working.

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