Multi-claw balance mechanical arm

Abstract

The utility model discloses a multi-claw balance mechanical arm which comprises a base device, a lifting device, a rotating device, a telescopic device and mechanical claws. The base device comprises a bottom plate, a horizontal adjusting supporting column and a lifting guide rail. The lifting device comprises a top cylinder, a bearing bracket, a bearing and a bolt. Compared with the prior art, the mechanical arm has the advantages that the symmetrical mechanical claws are arranged, so that the mechanical claws at the two ends are in a mutually symmetrical and balanced state in any state, the interference to negative energy of a central column of the mechanical arm is greatly reduced, and kinetic energy required by operation of a rotating device and a telescopic device is greatly reduced; meanwhile, the loss of parts of the rotating device and the telescopic device is greatly reduced; a blank and a finished product are subjected to process actions in one rotation, so that the whole material waiting time of the industrial master machine is greatly shortened, and the whole material waiting time of the industrial master machine can be completely shortened from 20 seconds to 4 seconds or less; the processing efficiency of the industrial master machine is greatly improved, and the total investment of equipment is greatly reduced under the conditions of certain working intensity and workload.

Description

Technical Field

[0001] The utility model relates to the technical field of robotic arms, and specifically relates to a multi-claw balanced robotic arm. Background Art

[0002] When the mechanical claw grabs a heavier weight and runs faster, the generated inertia and torque are greater, and the requirements for indicators such as the elastic modulus and stiffness of the basic parts of the conventional single robotic arm are particularly prominent, resulting in a doubling of the price and maintenance cost of the robotic arm. At the same time, for the stability and safety of the robotic arm operation, when handling items weighing more than a hundred catties, the speed of the robotic arm will be appropriately reduced. Therefore, the existing single-claw robotic arm has obvious deficiencies in specific scenarios, and the production efficiency needs to be greatly improved. Content of the Utility Model

[0003] In view of the problems existing in the prior art, the utility model discloses a multi-claw balanced robotic arm,

[0004] which is characterized in that it includes a base device, a lifting device, a rotating device, a telescopic device, and a mechanical claw;

[0005] The base device includes a bottom plate, a horizontal adjustment support column, and a lifting guide rail; the lifting guide rail is installed on the upper surface of the bottom plate, and the horizontal adjustment support column is installed on the lower side; a top cylinder positioning hole is opened in the center of the front side of the upper surface of the bottom plate, and four screw holes are evenly distributed around the top cylinder positioning hole;

[0006] The lifting device includes a top cylinder, a bearing bracket, a bearing, and bolt I; the bearing bracket is in a stepped shape, the upper layer is semi-circular and located at the front side, and a fixing hole is opened at the center of the circle; the lower layer is circular and located at the rear side, and a bearing chamber is provided at the center of its upper surface. Four motor fixing threaded holes are provided along the circumference of the outer wall of the bearing chamber on the upper surface of the lower layer. One guide rail hole I is provided on each of the left and right sides of the upper surface of the lower layer. A main column positioning hole is opened at the center of the bearing chamber; the bottom of the top cylinder is installed in the top cylinder positioning hole, and the top is installed on the front side of the bearing bracket and locked after being equipped with bolt I passing through the fixing hole; a screw rod I is installed outside the top cylinder, and the lower end of the screw rod I passes through the screw hole and is fixed with a nut; the bearing is installed in the bearing chamber of the lower layer of the bearing bracket;

[0007] The rotating device includes a main column, a motor, chute A, and chute B; the bottom end of the main column is provided with a bearing position, the center of the bearing position is an output shaft fixing position, and the bearing position is installed in the bearing; a bearing upper end plate is provided at the bottom of the bearing position and contacts the upper surface of the bearing; the motor is installed at the center of the lower side of the lower layer of the bearing bracket, and motor fixing holes are provided at its four corners, and screws are equipped to pass through the motor fixing holes and be screwed into the motor fixing threaded holes; the output shaft is clamped into the output shaft fixing position; chute A is provided on the front side of the main column, and chute B is provided on the rear side;

[0008] The telescopic device includes a telescopic motor, a central frame, an upper and lower moving plate, guide rails, screw II, main shaft A, main shaft B, flexible support A, and flexible support B; the central frame is installed on the top of the main column, and the upper fixing plate and the lower fixing plate are respectively fixed on the upper and lower ends of the main column; the telescopic motor is fixed on the central frame, equipped with bolt II, and a pulley is installed on its motor shaft; one end of a steel wire rope is wound around the pulley; on the right side of the upper surface of the central frame, screw holes are opened at both the front and rear ends, and a through main shaft A hole and main shaft B hole are opened on the front side;

[0009] One end of the main shaft A and the main shaft B are respectively installed in the main shaft A hole and the main shaft B hole, and flexible support A and flexible support B are respectively installed on their lower sides; the upper and lower moving plate is installed on the lower side of the central frame, and a guide rail hole II is opened in the center of its upper surface, and a rope hook is provided on the front side of the guide rail hole, which is connected to the other end of the steel wire rope; screw thread holes are opened on both the front and rear sides of the upper surface of the upper and lower moving plate, and bearing holes are opened on both the front and rear sides of the left side surface; after the guide rail passes through the guide rail hole II, fixing nuts I are respectively installed at the upper and lower ends and fixed on the upper fixing plate and the lower fixing plate; the lower end of the screw II passes through the screw hole and is screwed into the screw thread hole of the upper and lower moving plate; a compression spring is installed on the outer wall of the screw II, and a fixing nut II is installed at the top for fixation;

[0010] The mechanical claw includes claw fingers, a lifting switch, a top pump, a cross bone, and a rear cross bone; the claw fingers are installed in groups of two at both ends of the cross bone, and a lifting switch is installed on the lower side of its end; the top pump is installed in the center of the upper surface of the cross bone; the two ends of the rear cross bone are connected to the front ends of the claw fingers; the main shaft A and the main shaft B respectively pass through the cross bone and the rear cross bone and are locked with nuts.

[0011] As a preferred technical solution of the present invention, the main shaft A and the main shaft B are of equal length, and through power line holes A and power line holes B are opened inside, and flexible joint shaft holes A and flexible joint shaft holes B are respectively provided on the lower sides; one end of the flexible support A and the flexible support B are respectively opened with joint shaft holes A and joint shaft holes B, and are respectively installed on the flexible joint shaft holes A and flexible joint shaft holes B with shafts and snap rings; the other ends are respectively equipped with flexible joint holes A, bearing A, flexible joint holes B, and bearing B.

[0012] As a preferred technical solution of the present utility model, a telescopic switch installation position is provided on the lower side of the end of the claw finger, and finger flexible joint holes I, II, III, and IV are respectively provided at the front end; on the upper surface of the cross bone, bearing holes I and II are respectively provided at the left and right ends, and a main shaft hole is opened in the center of the front side; on the left and right ends of the rear cross bone, rear bone flexible joint holes I, II, III, and IV are opened, a rear main shaft hole is provided in the center of the front side, and a baffle is provided in the center of the upper surface; finger flexible joint holes III and IV are respectively connected to bearing holes II and I, and finger flexible joint holes I and II are respectively connected to rear bone flexible joint holes IV and II.

[0013] As a preferred technical solution of the present utility model, a top pump fixed base is installed in the center of the upper surface of the cross bone, and top pump fixing holes are opened at the four corners of the upper surface of the top pump fixed base.

[0014] The beneficial effects of the present utility model: The present utility model is provided with symmetric mechanical claws, so that the two mechanical claws are in a symmetric and balanced state in any state, which greatly reduces the interference of negative energy on the central column of the robotic arm, greatly reduces the kinetic energy required for the operation of the rotating device and the telescopic device, and at the same time greatly reduces the loss of components of the rotating device and the telescopic device; enables the blank and the finished product to complete the process actions in one rotation, greatly shortening the entire waiting time of the industrial mother machine. It has been practically proven that the entire waiting time of the industrial mother machine can be completely shortened from 20 seconds to within 4 seconds; greatly improves the processing efficiency of the industrial mother machine, and under the condition of a certain working intensity and workload, the total equipment investment will be greatly reduced. BRIEF DESCRIPTION OF THE DRAWINGS

[0015] In order to more clearly illustrate the specific embodiments of the present utility model or the technical solutions in the prior art, the following will briefly introduce the drawings required for the description of the specific embodiments or the prior art. In all the drawings, the elements or parts are not necessarily drawn to actual scale.

[0016] Figure 1 It is a three-dimensional schematic diagram of the present utility model;

[0017] Figure 2 It is a three-dimensional schematic diagram of the base of the present utility model;

[0018] Figure 3 It is a three-dimensional schematic diagram of the lifting device of the present utility model;

[0019] Figure 4 It is a three-dimensional schematic diagram of the bearing bracket of the present utility model;

[0020] Figure 5 It is a three-dimensional schematic diagram of the rotating device of the present utility model;

[0021] Figure 6 Schematic three-dimensional view of the telescopic device of the present utility model;

[0022] Figure 7 Schematic three-dimensional view of the installation of the telescopic motor of the present utility model;

[0023] Figure 8 Schematic three-dimensional view of the up-and-down moving plate of the present utility model;

[0024] Figure 9 Schematic three-dimensional view of the main shaft of the present utility model;

[0025] Figure 10 Schematic three-dimensional view of the flexible support of the present utility model;

[0026] Figure 11 Schematic three-dimensional view of the mechanical claw of the present utility model;

[0027] Figure 12 Schematic three-dimensional view of the clamping jaw of the present utility model;

[0028] Figure 13 Schematic three-dimensional view of the cross member of the present utility model;

[0029] Figure 14 Schematic three-dimensional view of the rear cross member of the present utility model;

[0030] In the figure: base device 10, lifting device 20, rotating device 30, telescopic device 40, mechanical claw 50, base plate 11, horizontal adjustment strut 12, lifting guide rail 13, top cylinder positioning hole 14, screw hole 15, top cylinder 21, bearing bracket 22, bearing 23, bolt 24I, screw rod I211, fixing hole 221, bearing chamber 222, guide rail hole I223, motor fixing threaded hole 224, main column positioning hole 225, main column 31, motor 32, chute A33, chute B34, bearing position 312, output shaft fixing position 313, motor fixing hole 321, output shaft 322, telescopic motor 41, center frame 42, upper and lower moving plate 43, guide rail 44, screw rod II45, main shaft A46, main shaft B47, flexible support A48, flexible support B49, upper fixing plate 441, lower fixing plate 442, bolt II411, motor shaft 412, pulley 413, wire rope 414, main shaft A hole 421, main shaft B hole 422, screw rod hole 423, guide rail hole II431, rope hook 432, bearing hole 433, screw rod threaded hole 434, fixing nut I443, compression spring 451, fixing nut II452, claw finger 51, lifting switch 52, top pump 53, cross bone 54, rear cross bone 55, power cord hole A461, power cord hole B471, flexible joint shaft hole A462, flexible joint shaft hole B472, joint shaft hole A481, joint shaft hole B491, flexible joint hole A482, bearing A483, flexible joint hole B492, bearing B493, flexible joint hole I511 of finger, flexible joint hole II512 of finger, flexible joint hole III513 of finger, flexible joint hole IV514 of finger, telescopic switch installation position 515, bearing hole I541, bearing hole II544, main shaft hole 543, rear bone flexible joint hole I551, rear bone flexible joint hole II554, rear bone flexible joint hole III555, rear bone flexible joint hole IV556, main shaft hole 553, baffle 552, top pump fixing base 542, top pump fixing hole 5421. Detailed implementation mode

[0031] Embodiment 1

[0032] As Figures 1 to 14 shown, the utility model discloses a multi-claw balanced robotic arm, which comprises a base device 10, a lifting device 20, a rotating device 30, a telescopic device 40, and a mechanical claw 50;

[0033] The base device 10 comprises a base plate 11, a horizontal adjustment strut 12, and a lifting guide rail 13; the lifting guide rail 13 is installed on the upper surface of the base plate 11, and the horizontal adjustment strut 12 is installed on the lower side; a top cylinder positioning hole 14 is formed in the center of the front side of the upper surface of the base plate 11, and four screw holes 15 are evenly distributed around the top cylinder positioning hole 14;

[0034] The lifting device 20 includes a top cylinder 21, a bearing bracket 22, a bearing 23, and a bolt I 24; the bearing bracket 22 is stepped, with a semi-circular upper layer located at the front side, and a fixing hole 221 is opened at the center of the circle; the lower layer is circular and located at the rear side, and a bearing chamber 222 is provided at the center of its upper surface. On the upper surface of the lower layer, four motor fixing threaded holes 224 are provided along the circumference of the outer wall of the bearing chamber 222. On the left and right sides of the upper surface of the lower layer, a guide rail hole I 223 is provided respectively, and a main column positioning hole 225 is opened at the center of the bearing chamber 222; the bottom of the top cylinder 21 is installed in the top cylinder positioning hole 14, and the top is installed on the front side of the bearing bracket 22 and locked after a bolt I 24 is passed through the fixing hole 221; a screw rod I 211 is installed outside the top cylinder 21, and the lower end of the screw rod I 211 passes through the screw hole 15 and is fixed with a nut; the bearing 23 is installed in the bearing chamber 222 of the lower layer of the bearing bracket 22;

[0035] The rotating device 30 includes a main column 31, a motor 32, a chute A 33, and a chute B 34; the bottom end of the main column 31 is provided with a bearing position 312, the center of the bearing position 312 is an output shaft fixing position 313, and the bearing position 312 is installed in the bearing 23; a bearing upper end plate 311 is provided at the bottom of the bearing position 312 and contacts the upper surface of the bearing 23; the motor 32 is installed at the center of the lower side of the lower layer of the bearing bracket 22, and motor fixing holes 321 are provided at its four corners, and screws are passed through the motor fixing holes 321 and screwed into the motor fixing threaded holes 224; the output shaft 322 is snapped into the output shaft fixing position 313; a chute A 33 is provided on the front side of the main column 31, and a chute B 34 is provided on the rear side of the main column 31;

[0036] The telescopic device includes a telescopic motor 41, a central frame 42, an up-and-down moving plate 43, a guide rail 44, a screw II 45, a main shaft A 46, a main shaft B 47, a flexible support A 48, and a flexible support B 49. The central frame 42 is installed on the top of the main column 31, and the upper fixing plate 441 and the lower fixing plate 442 are respectively fixed on the upper and lower ends of the main column 31. The telescopic motor 41 is fixed on the central frame 42, equipped with a bolt II 411, and a pulley 413 is installed on its motor shaft 412. One end of a steel wire rope 414 is wound around the pulley 413. On the right side of the upper surface of the central frame 42, screw holes 423 are opened at both the front and rear ends, and a through main shaft A hole 421 and a main shaft B hole 422 are opened on the front surface. One end of the main shaft A 46 and the main shaft B 47 are respectively installed in the main shaft A hole 421 and the main shaft B hole 422, and a flexible support A 48 and a flexible support B 49 are respectively installed on their lower sides. The up-and-down moving plate 43 is installed on the lower side of the central frame 42. A guide rail hole II 431 is opened in the center of its upper surface, and a rope hook 432 is provided on the front side of the guide rail hole, which is connected to the other end of the steel wire rope 414. Screw thread holes 434 are opened on both the front and rear sides of the upper surface of the up-and-down moving plate 43, and bearing holes 433 are opened on both the front and rear sides of the left side surface. After the guide rail 44 passes through the guide rail hole II 431, fixing nuts I 443 are respectively installed at the upper and lower ends and fixed on the upper fixing plate 441 and the lower fixing plate 442. The lower end of the screw II 45 passes through the screw hole 423 and is screwed into the screw thread hole 434 of the up-and-down moving plate 43. A compression spring 451 is installed on the outer wall of the screw II 45, and a fixing nut II 452 is installed at the top for fixing.

[0037] The mechanical claw 50 includes claw fingers 51, a lifting switch 52, a top pump 53, a cross bone 54, and a rear cross bone 55. Two claw fingers 51 are installed in a group at both ends of the cross bone 54, and a lifting switch 52 is installed on the lower side of their ends. The top pump 53 is installed in the center of the upper surface of the cross bone 54. Both ends of the rear cross bone 55 are connected to the front ends of the claw fingers 51. The main shaft A 46 and the main shaft B 47 respectively pass through the cross bone 54 and the rear cross bone 55 and are locked with nuts. Two mechanical claws 50 are symmetrically arranged so that they are relatively in a balanced state, greatly reducing the interference of negative energy on the central column of the robotic arm, greatly reducing the kinetic energy required for the operation of the rotating device and the telescopic device, and at the same time greatly reducing the wear and tear of the components of the rotating device and the telescopic device.

[0038] The working principle of the present utility model: When the present utility model is in use, the start switch of the telescopic motor 41 is connected to the automatic fixed lifting device of the main equipment. When the processing part is completed and the automatic fixed lifting device rises, the telescopic motor 41 is started, and the steel wire rope 414 lifts the up-and-down moving plate 43, driving the bearing A 483 and the bearing B 493 to slide upwards, driving the main shaft A 46 and the main shaft B 47 to extend towards both ends. When the extension is completed, the top pump 53 is turned on. When the front claw fingers 51 clamp the blank, the rear claw fingers 51 clamp the product.

[0039] When the front side claw finger 51 clamps the blank and the rear side claw finger 51 clamps the product, the lifting switch 52 is triggered, and the top cylinder 21 pushes the main column 31 upward; when the main column 31 is pushed upward, the telescopic motor 41 is triggered to rotate in the reverse direction. Under the action of the compression spring 451, the upper and lower moving plates 43 quickly descend, causing the main shaft A46 and the main shaft B47 to quickly approach the center frame 42; when the upper and lower moving plates 43 reach the bottom, the motor 32 switch is triggered, and the motor 32 rotates to the set angle, triggering the telescopic motor 41 to rotate forward.

[0040] Triggering the telescopic motor 41 to rotate forward, the steel wire rope 414 lifts the upper and lower moving plates 43, driving the bearing A483 and the bearing B493 to slide upward, driving the main shaft A46 and the main shaft B47 to extend towards both ends; at this time, the spatial positions of the main shaft A46 and the main shaft B47 are symmetrically interchanged, triggering the closing of the lifting switch 52; the top cylinder 21 drives the main column 31 to reset; when the main column 31 resets, it drives the top pump 53 to close. At this time, the blank is just placed at the set position, and at the same time the product falls into the conveying device; the blank is just placed at the set position, prompting the automatic fixed lifting device to press down, driving the trigger motor 41 to rotate in the reverse direction, so that the claw fingers 51 leave the processing area of the main device; wait for the processing part to be completed again and repeat the operation.

[0041] The components not described in detail in this article are prior art.

[0042] Although the specific embodiments of the present invention have been described in detail above, the present invention is not limited to the above embodiments. Within the scope of knowledge possessed by those of ordinary skill in the art, various changes can be made without departing from the purpose of the present invention, and modifications or deformations that do not involve creative labor are still within the protection scope of the present invention.

Claims

1. A multi-claw balancing robot arm, characterized in that: It comprises a base device (10), a lifting device (20), a rotating device (30), a telescopic device (40), and a mechanical claw (50); The base device (10) comprises a bottom plate (11), a horizontal adjustment support (12), and a lifting guide rail (13); the lifting guide rail (13) is installed on the upper surface of the bottom plate (11), and the horizontal adjustment support (12) is installed on the lower side; a top cylinder positioning hole (14) is opened in the center of the front side of the upper surface of the bottom plate (11), and four screw holes (15) are evenly distributed around the circumference of the top cylinder positioning hole (14); The lifting device (20) comprises a top cylinder (21), a bearing bracket (22), a bearing (23), and a bolt I (24); the bearing bracket (22) is in a stepped shape, the upper layer is semicircular, located at the front side, and a fixing hole (221) is opened at the center of the circle; the lower layer is circular, located at the rear side, and a bearing chamber (222) is provided at the center of its upper surface; four motor fixing threaded holes (224) are provided on the upper surface of the lower layer along the circumference of the outer wall of the bearing chamber (222); and a guide rail hole I (221) is provided on each of the left and right sides of the upper surface of the lower layer. 3), a main column positioning hole (225) is opened in the center of the bearing chamber (222); the bottom of the top cylinder (21) is installed in the top cylinder positioning hole (14), and the top is installed on the front side of the bearing bracket (22) and is equipped with a bolt I (24) that passes through the fixing hole (221) and is locked; a screw rod I (211) is installed on the outside of the top cylinder (21), and the lower end of the screw rod I (211) passes through the screw hole (15) and is fixed with a nut; the bearing (23) is installed in the lower bearing chamber (222) of the bearing bracket (22); The rotating device (30) comprises a main column (31), a motor (32), a slide groove A (33), a slide groove B (34); a bearing seat (312) is provided at the bottom end of the main column (31), and a shaft fixing seat (313) is provided in the center of the bearing seat (312), and the bearing seat (312) is installed in the bearing (23); a bearing upper end plate (311) is provided at the bottom of the bearing seat (312), and contacts with the upper surface of the bearing (23); the motor (32) is installed in the center of the lower side of the lower layer of the bearing bracket (22), and motor fixing holes (321) are provided at its four corners, and mounting screws pass through the motor fixing holes (321) and are screwed into the motor fixing threaded holes (224); the shaft (322) is inserted into the shaft fixing seat (313); a slide groove A (33) is provided on the front side of the main column (31), and a slide groove B (34) is provided on the rear side; The telescopic device comprises a telescopic motor (41), a center frame (42), an up-and-down movable plate (43), a guide rail (44), a screw II (45), a main shaft A (46), a main shaft B (47), an active support A (48), and an active support B (49); the center frame (42) is installed on the top of the main column (31), and the upper fixed plate (441) and the lower fixed plate (442) are respectively fixed on the upper and lower ends of the main column (31); the telescopic motor (41) is fixed on the center frame (42), and is equipped with Bolt II (411), a pulley (413) is installed on the motor shaft (412), and one end of the wire rope (414) is wound around the pulley (413); screw holes (423) are opened at the front and rear ends of the right side of the upper side of the center frame (42), and the front side is opened with a main shaft A hole (421) and a main shaft B hole (422) penetrating therethrough; one end of the main shaft A (46) and the main shaft B (47) are respectively installed in the main shaft A hole (421) and the main shaft B hole (422), and the lower side is respectively installed with a movable support A (48), active support B (49); the up-and-down movable plate (43) is installed on the lower side of the center frame (42), and a guide rail hole II (431) is opened in the center of its upper surface, and a rope hook (432) is provided on the front side of the guide rail hole, which is connected to the other end of the wire rope (414); a screw threaded hole (434) is opened on the front and rear sides of the upper surface of the up-and-down movable plate (43), and a bearing hole (433) is opened on the front and rear sides of the left side; after the guide rail (44) passes through the guide rail hole II (431), the upper and lower ends are equipped with fixing nuts I (443) and are respectively fixed on the upper fixed plate (441) and the lower fixed plate (442); the lower end of the screw II (45) passes through the screw hole (423) and is screwed into the screw threaded hole (434) of the up-and-down movable plate (43); the outer wall of the screw II (45) is equipped with a compression spring (451), and the top is equipped with a fixing nut II (452) for fixing; The mechanical claw (50) comprises a claw finger (51), a lifting switch (52), a top pump (53), a transverse bone (54), and a rear transverse bone (55); the claw finger (51) is installed in groups of two at both ends of the transverse bone (54), and a lifting switch (52) is installed at the lower side of the end; the top pump (53) is installed in the center of the upper surface of the transverse bone (54); the two ends of the rear transverse bone (55) are connected to the front end of the claw finger (51); the main axis A (46) and the main axis B (47) passes through the transverse bone (54) and the rear transverse bone (55) respectively and then is fitted with nuts for locking.

2. A multi-claw balancing robot arm according to claim 1, characterized in that: The main axis A The main shaft (46) and the main shaft B (47) are of equal length, and have a power cord hole A (461) and a power cord hole B (471) therein, and a joint shaft hole A (462) and a joint shaft hole B (472) are respectively provided on the lower side; the movable support A (48) and the movable support B (49) have a joint shaft hole A (481) and a joint shaft hole B (491) at one end, and the mounting shaft and the retaining spring are respectively installed in the joint shaft hole A (462) and the joint shaft hole B (472); the other end is respectively equipped with a joint hole A (482), a bearing A (483), a joint hole B (492), bearing B (493).

3. A multi-claw balancing robot arm according to claim 1, characterized in that: The lower side of the end of the claw finger (51) is provided with a telescopic switch installation position (515), on which a lifting switch (52) is mounted, and the front end is respectively provided with a finger joint hole I (511), a finger joint hole II (512), a finger joint hole III (513), and a finger joint hole IV (514); the left and right ends of the upper surface of the transverse bone (54) are respectively provided with a bearing hole I (541) and a bearing hole II (544), and the center of the front side is provided with a main shaft hole (543); the left and right ends of the rear transverse bone (55) are provided with a rear bone joint hole I (551), a rear bone joint hole II (552), and a rear bone joint hole IV (554). (554), posterior bone joint hole III (555), posterior bone joint hole IV (556), a rear spindle hole (553) is provided in the center of the front side, and a baffle (552) is provided in the center of the upper surface; refer to joint hole III The finger joint hole (513) and the finger joint hole IV (514) are connected to the bearing hole II (544) and the bearing hole I (541) respectively, and the finger joint hole I (511) and the finger joint hole II (512) are connected to the posterior bone joint hole IV (556) and the posterior bone joint hole II (554) respectively.

4. A multi-claw balancing robot arm according to claim 3, characterized in that: A top pump fixing base (542) is installed in the center of the upper surface of the transverse bone (54), and top pump fixing holes (5421) are opened at four corners of the upper surface of the top pump fixing base (542).

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