31 results about "Joint rotation" patented technology

This invention discloses a joint rotation module, including a housing, a harmonic reducer, a driver, and a control unit. The driver includes a stator, a rotor, and a drive shaft. The joint rotation module also includes a liquid cooling circulation unit, which comprises: a circulation loop including a medium flow channel and a liquid pump. The liquid pump is integrated in a cavity and driven by the drive shaft, causing the cooling medium to circulate within the medium flow channel. Part of the medium flow channel is distributed on the housing around the driver. A heat dissipation assembly is disposed on the housing, and the control unit and the medium flow channel are thermally coupled to the heat dissipation assembly. By connecting the liquid pump to the drive shaft, this invention allows the driver to drive the liquid pump while outputting rotation. The liquid pump only needs an impeller to operate, achieving the circulation of the cooling medium within the medium flow channel, thereby cooling the joint rotation module. This significantly reduces the size of the liquid pump, allowing it to be integrated within the joint rotation module.

This invention relates to a method for solving the inverse kinematics of a robotic arm based on autonomous planning of redundant parameters, comprising: Step 1, the rotation axes of joints 1 to 3 of the robotic arm intersect at point Ps and are designated as the shoulder joint; the rotation center of joint 4 is Pe and is designated as the elbow joint; the rotation axes of joints 5 to 7 intersect at point Pw and are designated as the wrist joint; Step 2, the "shoulder-elbow-wrist" structural parameters are determined as: l bs l se l ew l wt Step 3: Solve for θ in the base coordinate system to find the vector of line PsPw. 1_0 θ 2_0 θ 3_0 θ 4_0 Step 4: Define the angle between the PsPePw plane and the reference plane as the redundancy angle; establish the functional relationship between θ1, θ2, θ3 and θ5, θ6, θ7 and the redundancy angle; Step 5: Solve for the initial inverse joint combination; Step 6: Solve for the optimal redundancy angle; Step 7: Substitute the optimal redundancy angle into the relational expression to finally solve for θ1, θ2, θ3 and θ5, θ6, θ7; Step 8: Use the calculated θ1~θ7 as the desired trajectory. This invention improves the control accuracy of the robotic arm and the operating efficiency of the controller.

The application provides a dual industrial robot conversion collaborative control method and device, electronic equipment and storage medium, the method comprises the following steps: based on the programming file written in the first control channel, interpolating the first robot, the second robot and the tool rotation axis in the first control channel; in the first control channel, the joint rotation axis of the first robot, the sliding position of the first base along the slide rail, and the coordinate conversion of the rotating tool are carried out, and the motion control of the joint rotation axis of the first robot is carried out based on the conversion result; in the first control channel, the first base and the second base are controlled to slide along the slide rail, and the rotating tool is controlled to rotate around the tool rotation axis in the first control channel; in the second control channel, the virtual axis indicated by the pose parameter of the second robot included in the programming file and the synchronous action algorithm are used to control the motion of the joint rotation axis of the second robot. The dual industrial robot conversion collaborative control method can realize the collaborative control of the dual robot and the rotating tool.

The application relates to the field of mechanical hands, in particular to a bionic upper limb and a load-carrying robot for heavy-load working conditions. The application comprises a plurality of base bodies which are rotationally connected through joints between adjacent base bodies; a plurality of power sources are fixed on the base bodies, and any power source is transmissionally connected with the joint through a flexible mechanism, and is used for driving the base body to move in space relative to the adjacent base body. In the application, the power source is rear-mounted in the base body, and the flexible mechanism is used for long-distance power transmission, so that the driving elements such as motors with large mass are far away from the rotation center of the joint, the rotational inertia of the moving limb is effectively reduced, and the acceleration / deceleration response performance and the load self-weight ratio of the upper limb are obviously improved.

This invention, entitled "An Built-in Power Device, a Dexterous Finger, and Its Applications," belongs to the field of robotic dexterous hand technology. The technical problems it aims to solve are: existing robotic dexterous fingers suffer from problems such as external power devices, complex structures, large size, low power density and slow response due to the need for reducers in motor drives, poor stiffness and easy wear of tendon-wire transmissions, large return gaps, unstable positioning and grasping, and difficulty in directly and effectively driving joint rotation through the micro-displacement of piezoelectric ceramics. The key technical solution is: a built-in power device consisting of a piezoelectric ceramic power system and a hydraulic transmission system. The piezoelectric ceramic utilizes its inverse effect to achieve direct electro-mechanical conversion, providing mechanical power to the hydraulic transmission system. The hydraulic pump in the hydraulic transmission system is a reciprocating positive displacement pump, which provides pressurized oil to the hydraulic circuit through the periodic change of the working chamber volume.

The application discloses a kind of joint coordinate measuring machine measurement error compensation methods based on pose space;The calibration method is as follows: one, the initial structure parameter is obtained by static calibration to joint coordinate measuring machine.Two, the probe of joint coordinate measuring machine is moved along the preset trajectory, and the sampling point data of probe is continuously detected and recorded;Sampling point data includes probe coordinates and the angle of each joint.Three, data processing, the pose space of multiple joint coordinate measuring machines is calibrated respectively.The application divides the pose space to the first three joints of joint coordinate measuring machine which has greater influence on measurement accuracy, and calibrates the structure parameter for each pose space respectively, overcomes the problem that the additional error caused by joint rotation of joint coordinate measuring machine leads to unstable measurement accuracy at different positions, and improves the reliability of joint coordinate measuring machine in subsequent detection.

Examples of a motion guiding device of a target joint of a target body are disclosed. The device allows three degree-of-freedom (DOF) motion about a remote center of rotation that is approximately aligned to a center of rotation of the target joint. The device comprises a base adjustably connected to the target body and three rotary joints interconnected with a network of linkages. One end of the network of linkages is connected to the base and the opposite end to an effector plate. At least one of the three rotary joints is not aligned with an axes of motion of the target joint and any of these rotary joints may be positioned under angle with respect to the others. Each of the rotary joints provides one DOF of rotary motion about the respective axes and each axis of the three rotary joints intersect at the remote center of rotation. The geometry of the network of linkages is adjustable to adjust a position of the remote center of rotation in three dimensions. The three rotary joints and the network of linkages rotate the effector plate about the remote center of rotation that is approximately align with the center of rotation of the target joint. This system may be connected with one or more parallel branches for additional actuation.

The utility model relates to abrasive wheel machine technical field especially relates to a high strength abrasive wheel machine with water cooling, its technical scheme includes base, abrasive wheel, protective cover and rotating motor, the inside hollow of rotating motor rotor shaft, one end of rotating motor rotor shaft is connected with cold water pipe through swivel joint rotation, the outer fixed surface of rotating motor rotor shaft is installed with abrasive wheel, and abrasive wheel and cold water pipe are located rotating motor both sides respectively, the outer surface of abrasive wheel is arranged with a plurality of heat dissipation holes in annular array equidistance, and heat dissipation hole extends to the inner wall of abrasive wheel, the outer surface of rotating motor rotor shaft is located at the position of the inside of abrasive wheel and is provided with annular groove, the utility model is convenient for to motor, abrasive wheel and workpiece carry out water cooling cooling simultaneously, guarantees the stable performance of workpiece, has prolonged the service life of abrasive wheel and motor, has reduced the equipment failure risk of high temperature simultaneously.

The application belongs to the technical field of robots and relates to a leg structure of a humanoid robot and the humanoid robot, aiming to synchronously solve the problems of high processing cost of the existing thigh structure, easy shearing failure of the connecting fastener and influence on the appearance caused by exposure. The leg structure comprises an integrated rotary joint, a thigh structure, a lower leg structure and a bearing assembly. The arc-shaped first connecting end of the thigh structure is provided with interval protrusions, the first shell of the joint shell is provided with matching grooves in a split manner, the protrusions are embedded in the grooves and locked by the fasteners arranged along the joint rotation axis. The bearing assembly is arranged in the lower leg sleeve part and rotationally supported outside the second shell of the joint. The flange part is fixedly connected with the joint output flange, and the axial projection of the fastener is located in the sleeve part. The scheme considers the connection strength and appearance concealment, simplifies the processing and reduces the cost.

This invention provides a joint mechanism and a robot having the same. The joint mechanism includes a joint housing; a drive shaft disposed within the joint housing for driving joint rotation; a rotating mating part disposed on the drive shaft and rotating with the drive shaft, the rotating mating part protruding in a direction away from the drive shaft; a braking assembly disposed within the joint housing, the braking assembly including a housing having a receiving cavity; at least a portion of an electromagnetic component located within the receiving cavity; at least a portion of a limiting component located within the receiving cavity, the limiting component including a blocking position and a yielding position, the limiting component being movably disposed between the blocking position and the yielding position; when the electromagnetic component is energized, the electromagnetic component applies an electromagnetic force to the limiting component, causing the limiting component to retract in a direction away from the rotating mating part, causing the limiting component to yield to the rotating mating part; when the electromagnetic component is de-energized, the limiting component extends until it blocks the rotating mating part. This application solves the problem in the prior art where the robotic arm slips uncontrollably when the power is off.

The application relates to a method for determining the joint stroke of a mechanical arm by using a Monte Carlo method, comprising the following steps: step 1, determining the pose constraint of the mechanical arm, wherein the pose constraint comprises the activity range and the pointing range of the end position of the mechanical arm; step 2, constructing the inverse kinematics equation of the mechanical arm according to the configuration parameters of the mechanical arm, wherein the configuration parameters comprise the included angle between the rotation axes of each adjacent joint of the mechanical arm; and step 3, taking a certain state of the mechanical arm containing different joint angle information as a Monte Carlo sample point, and calculating the joint angle information set in different Monte Carlo sample points according to the pose constraint of the mechanical arm and the inverse kinematics equation, wherein the joint angle information set comprises the stroke envelope of different joints in the mechanical arm. The application can determine the stroke envelope of the joint unit of the mechanical arm in the case that the configuration of the mechanical arm is known and a certain specified probability is determined, so as to guide the fine design of the envelope formed by the joints of the mechanical arm.

The utility model provides a kind of light joint rotating mechanism of robot dog, it is related to robot dog joint technical field, including shell, installation mechanism is arranged in the shell, gear mechanism is installed in the installation mechanism, the installation mechanism side is provided with several radiating fins, the installation mechanism side is rotatably connected with supporting leg, the shell side is provided with installation box, driving motor is fixedly installed in the installation box, gear mechanism both ends are connected with driving motor and supporting leg respectively, the shell, inner shell and other core components are made by carbon fiber aluminum alloy forging process in the application, overall quality is greatly reduced, gear mechanism is designed with more teeth and less module, increase the number of teeth, reduce module, while ensuring transmission intensity, simplify structure, make joint more light and compact, adapt to the demand of robot dog to light weight, the gear mechanism of more teeth and less module engages more smoothly, cooperate with the accurate positioning of clamping block and clamping groove, reduce transmission gap, improve rotation accuracy.

The application discloses a motion control method and device of a humanoid lower limb exoskeleton robot and a storage medium, and relates to the technical field of industrial robots. For a humanoid lower limb exoskeleton robot with the third, fourth and fifth joint rotation axes being parallel to each other, the method comprises the following steps: receiving a foot end desired pose to obtain a target pose matrix; constructing an algebraic equation to analytically solve a first joint angle; based on this, sequentially decoupling and calculating the angles of the space-related joints and the parallel-axis group joints; and finally converting the angles into cooperative driving instructions. Through a step-by-step decoupling analytical solving strategy, the application avoids problems such as matrix singularity and iteration non-convergence existing in traditional numerical iteration methods, can efficiently, accurately and stably obtain the rotation angles of each joint of the robot, and thus realizes precise and robust control of the exoskeleton robot with a specific configuration.

The utility model discloses a cable protection tube sealing structure relates to cable protection tube field, the utility model discloses a first protection tube and second protection tube, one end of first protection tube is installed with first sealing disc, and one end of second protection tube is installed with second sealing disc. The utility model discloses through being provided with locking assembly, when needing to connect first protection tube and second protection tube, staff can insert one end of second protection tube to first sealing disc inside, make the positioning column pass through the positioning hole simultaneously to the positioning of first sealing disc and second sealing disc, and when second protection tube inserts and completes, staff can rotate the swivel joint counterclockwise through the swivel block, and the swivel joint rotation will drive multiple clamping plates to rotate, make clamping plate rotate into the inside of the card slot to hold up the positioning column, and staff no longer rotate the swivel block after clamping plate rotation and complete, and then improve the stability of swivel block and swivel joint, and prevent clamping plate from rotating out.

An electromagnetically shiftable positive engagement clutch is shown, having a shifting sleeve which is arranged on a shaft for joint rotation therewith and is linearly displaceable along the shaft between a clutch engagement position and a clutch disengagement position, a clutch body which is aligned coaxially with the shaft, and a stator having at least one energizable drive coil for adjustment of the shifting sleeve along the shaft, wherein in the clutch engagement position there is a positive engagement between the shifting sleeve and the clutch body and thus a rotary connection between the shaft and the clutch body. Moreover, the positive engagement clutch has a stationary sensor device which is arranged adjacent to the shifting sleeve and includes at least one Hall sensor and at least two magnets that magnetically enclose the at least one Hall sensor and are permanently stationary relative to the at least one Hall sensor, with the magnets pointing toward the shifting sleeve and having opposite polarities relative to each other. The sensor device is adjacent to the shifting sleeve in a radial direction so as to be spaced apart therefrom by a radial gap, so that an axial movement of the shifting sleeve is detected by the Hall sensor through a reduction in the radial gap.

The invention relates to an actuating handle for components such as windows, doors and the like, comprising at least one drive element, which can be engaged with a grip for joint rotation, and a socket for integration in a window or door mechanism. The invention is characterized in that the socket has a recess, which extends through the rotational axis of the socket, and at least one spring-loaded blocking or clamping element, which is pivotably mounted therein, which can be brought into force-fitting, form-fitting and / or frictional engagement with the drive, and the socket has a radially inwardly directed locking groove on its outer circumference to receive a locking element.

An upper-limb exoskeleton (100) includes a compensation device (102) and a control system (104). The compensation device (102) has an elastic mechanism (112) configured to generate assistive torque about a joint rotation axis (A1). An active regulation system (116) comprising a servomotor (136), a worm gearbox (142), and a cam (158) modifies a distance between a first bracket assembly (126) and a second bracket assembly (128) to preload assistive torque. A selector system (114) adjusts the compensation device (102) between an unlock mode (167), a lock mode (169), and a transparent mode (171). The control system (104) computes and regulates assistive torque via a microcontroller (202) using open-loop current control and receives commands from a remote controller (118). The method and system provide adaptive control of assistive torque, enabling real-time adjustment, mode switching, and torque computation for ergonomic support during upper-limb exertion.

A kind of oil cylinder joint assembly, including female threaded oil cylinder joint and ball pin, the main body of female threaded oil cylinder joint is cylindrical structure, and the ball head part of ball pin is located in cylindrical structure, the two ends of dust cover are fixedly connected with female threaded oil cylinder joint and ball pin ball stem middle part by snap ring respectively, the other end of female threaded oil cylinder joint cylindrical structure is covered with end cover, the inside of end cover is provided with cylindrical ball seat, the upper and lower edges of ball seat are bent inward, and the inside of ball seat is fixed with a layer of wear-resistant ring, and the middle part of wear-resistant ring is protruded to middle part, so that the upper side arc surface of wear-resistant ring is completely contacted with the ball head of ball pin.The utility model joint assembly adopts maintenance-free structure, realizes lifelong maintenance-free, reduces user maintenance cost;The utility model wear-resistant ring makes the ball head more stable in female threaded oil cylinder joint rotation, prevents up and down movement, additionally further sealing structure can be formed in bottom, so that lubricating oil and other lubricating substances around ball head can be better retained.

The invention relates to a joint connection between a coupling rod and a slider of a linear guide, which joint connection has a ball head, which can be connected to or connected with the coupling rod for joint rotation with the coupling rod, and has a ball socket, which is formed in the slider, wherein the slider has an entry opening through which the ball head can be inserted into the ball socket, and the entry opening has two opposite lateral boundaries, which are each oriented along a straight line and parallel to one another, and wherein the ball head comprises two flat lateral surfaces, which are oriented parallel to one another, the distance between which corresponds at most to the distance between the lateral boundaries. The invention also relates to an assembly method for a joint connection of this type.

This utility model relates to a diving suit with reinforced joint areas, comprising a one-piece body with openings in the torso, crotch, arms, legs, and neck. The elbow joint area of ​​the arms and the knee joint area of ​​the legs are respectively provided with annular reinforcing structures, while the shoulder joint area and the hip joint area of ​​the torso are respectively provided with radial reinforcing structures. The annular reinforcing structure includes a tear-resistant base layer, a three-dimensional cushioning interlayer, and a surface abrasion-resistant layer. The base layer resists tear propagation, the interlayer absorbs and disperses the impact and stress generated by flexion and extension movements, and the abrasion-resistant layer resists external friction and scratching. This provides comprehensive protection and reinforcement for the elbow and knee joints, which withstand high-frequency flexion and extension deformation, significantly improving the tear resistance, abrasion resistance, and overall service life of these areas. The radial reinforcing structure simulates the stress transmission path during joint rotation, and the reinforcing strips effectively transmit and disperse the stress generated by rotational activities.

The present invention relates to a rotor blade bearing configuration (214) for an underwater turbine (1), wherein the rotor blade bearing configuration (214) is designed to rotatably support a rotor blade shaft (204) in a rotor hub housing (202), wherein the rotor blade shaft (204) has a sea-side end (207) and a rotor hub-side end (208), the sea-side end being designed to connect to the rotor blade (4) for joint rotation, the rotor hub-side end being designed to be received by the rotor hub (2), and wherein the rotor blade bearing configuration (214) includes the rotor blade shaft (204) and a first sea-side bearing unit (220) and a second rotor hub-side bearing unit (230), wherein the first bearing unit and the second bearing unit (220; 230) are configured to have a distance W between them, wherein the first bearing unit and the second bearing unit (220; 230) are designed as sliding bearings (225; 235). Each has an inner sliding surface (282; 292) and an outer sliding surface (281; 291), wherein the inner sliding surface (292) of the first sliding bearing (225) is formed on the seaside end (207) of the rotor blade shaft (204), and the inner sliding surface (282) of the second sliding bearing (235) is formed on the rotor hub side end (208) of the rotor blade shaft (204), and wherein the outer sliding surfaces (281; 291) of the first sliding bearing and the second sliding bearing (225; 235) are formed by the rotor hub housing portion (252; 262), wherein the rotor hub housing portion (252; 262) is in the form of a hollow tubular shape and has a seaside end (255) and a rotor hub side end (254), a sliding layer (291) for the first sliding bearing (225) is formed on the seaside end, and a sliding layer (281) for the second sliding bearing (235) is formed on the rotor hub side end.

This invention relates to a lockable, variable stiffness linearly driven continuum robot, comprising a base, a linear guide propulsion module, coaxially fitted inner and outer tube continuum robot modules, and corresponding modules for driving, rotating, and locking the inner and outer tube continuum robot modules respectively. Both the inner and outer tube continuum robot modules consist of multiple joints connected in a serpentine structure via revolute joints, and include at least one locking joint. The locking module controls the rotation of the locking joint, causing its internal structure to engage a limiting block on the locking line, thereby fixing the length of the locking line from the base to the joint, achieving overall mechanical locking and stiffness enhancement of that segment of the robot's posture. This invention reduces the axial and radial dimensions at the joints, increases the range of robot stiffness variation and the robot's degrees of freedom, and adapts to internal surgical environments in confined spaces.

A physical Human-Robot Interface (pHRI) is configured for a passive lumbar exoskeleton that aids an operator in exerting effort. The pHRI includes connections to the operator's body using a posterior corset, lumbar belt, posterior support belt, and thigh cuff. The pHRI features rigid kinematic structures with passive degrees of freedom (pDOFs) that prevent displacements in the human-machine interface that could lead to misalignments of the joint rotation axis. The pHRI incorporates two posterior struts that bypass the human multi-articular kinematic chain of the lower and middle back, connecting the pelvis to the torso bilaterally and transferring assistance from the exoskeleton to the body. Additionally, the pHRI has linkages between the posterior struts and the rigid corset to ensure effective transmission of assistance.

The application discloses a universal finger for a rope-driven dexterous hand and a three-degree-of-freedom dexterous hand finger, the universal finger comprising a base, a driving assembly, a first driving rope, a second driving rope, an angle sensing assembly and a joint, the first driving rope and the second driving rope being connected with the driving assembly and the joint respectively, the driving assembly being used for driving the first driving rope and the second driving rope to move reversely at the same time, thereby driving the joint to rotate forward or reversely; the angle sensing assembly is used for detecting the rotation angle of the joint; the first driving rope and the second driving rope both comprise a transmission rope and a bendable variable stiffness sleeve, the variable stiffness sleeve being used for limiting and supporting the transmission rope; the transmission rope is connected with the driving end of the driving assembly and the joint; the two ends of the variable stiffness sleeve are connected with a first preset position of the dexterous hand and a second preset position of the dexterous hand respectively. The universal finger for the rope-driven dexterous hand detects the rotation angle of the joint in real time through the angle sensing assembly, forms a closed loop control and improves the accuracy of the finger movement.

The present application relates to the technical field of medical rehabilitation device, and more specifically discloses a knee joint rehabilitation device, which comprises a support component, the support component comprises a support bottom plate, the support bottom plate is connected with a seat plate through a support column, the seat plate is provided with a support plate on both sides, the seat plate is rotatably connected with an axis suspension assembly on the inner side, the axis suspension assembly comprises a third motor, a rotating ring and a coil spring, the third motor drives the rotating ring, the rotating ring is connected with a rotating shaft through the coil spring, the rotating shaft is movably connected with a knee joint rotating plate on the outer side, the knee joint rotating plate is provided with a first moving assembly on the bottom, a blocking hole assembly is slidably arranged in the interior, and the bottom of the knee joint rotating plate is also movably connected with a blowing assembly, the axis suspension assembly is arranged, the elasticity of the coil spring is utilized to make the rotating shaft move dynamically in the movement process of the knee joint of the patient, the change of the instantaneous rotation center of the knee joint is adapted, and secondary injury caused by the fixed axis is avoided.

A kind of inverse solution control method of rock drilling jumbo drill boom, it is suitable for the first two joints are rotary joint, and the rotary axis of the first two joints is perpendicular, the drill boom is rotated in the angle range of no more than 180 °, the first two joint angle parameters of drill boom are parameterized, and the fast numerical solution mode of the rotation angle of the first two joint angles is given, the inverse solution algorithm structure of fast loop solution combining numerical and analytical solution is established, according to the characteristics of rock drilling jumbo drill boom structure, the first two joints are iteratively solved by numerical method, the middle joint and the end joint are solved by analytical method, the solving accuracy and solving speed of drill boom inverse solution are considered, the initial value of the rotation angle of the two joints is automatically generated by random number, and combined with the mode of multiple trial, the problem of unable to solve caused by improper setting of joint rotation angle initial value can be avoided, which is beneficial to the accurate control of the pose of rock drilling jumbo drill boom.

The application discloses a variable-cavity pneumatic robot joint, a driving system and a control method thereof. The variable-cavity pneumatic robot joint comprises a robot joint body, a variable-cavity single-acting cylinder group, a steel wire rope group and a gear hob, wherein the single-acting cylinder group is symmetrically arranged about the gear hob and is installed on the robot joint body. The linear motion of the single-acting cylinder is converted into the rotation of the gear hob through the steel wire rope group, so that the rotational motion of the robot joint is realized. According to the load feedback, the variable-cavity pneumatic robot joint selectively provides an effective acting area through the control of a two-position two-way electromagnetic reversing valve and a three-position five-way electromagnetic reversing valve, so that the output torque of the robot joint is matched with the actual load torque, and the driving efficiency of the robot joint system is greatly improved.

This invention relates to the field of rehabilitation medical device technology, and discloses a lower limb rehabilitation exoskeleton robot based on pneumatic artificial muscle drive. Its key technical features include: a lower limb rehabilitation exoskeleton and a back frame mounted on top of it; the exoskeleton comprises a hip support rod, thigh rods movably connected to the front ends of the hip support rod, and lower leg rods movably connected to the bottom of the thigh rods; foot pedals are movably connected to the bottom of the lower leg rods; rollers are provided at each joint hinge point; pneumatic tendons are fixedly connected to the front and rear sides of the thigh and lower leg rods; the back frame comprises a back frame, air ducts, and pneumatic tendons in the back; control components are fixed to the outer wall of the back frame; the foot pedals adopt a front-to-back split structure, with the spacing adjusted by a locking rod and slot; the pneumatic tendons drive the lower limb joints to swing through cables and rollers, and the front and rear pneumatic tendons deform accordingly during joint rotation, assisting in joint repositioning.

The utility model relates to a five -axis cooperation mechanical arm for grabbing narrow area object, including telescopic joint, vertical installation motor's rotary joint, base structure and the wire hole structure inside the telescopic joint with vertical installation motor's rotary joint, the inside of vertical installation motor's rotary joint still be provided with the rotary joint drive structure for driving the bending between vertical installation motor's rotary joint and telescopic joint. This five -axis cooperation mechanical arm for grabbing narrow area object, through vertical installation motor's rotary joint, introduces bevel gear and improves the reduction ratio of joint, adjusts the installation direction of motor to the position perpendicular with the joint rotary axle at the same time, realizes the rotary joint of greater torque under the cylinder of smaller outer diameter, has reduced the space occupied, has improved the disposition simplicity while, greater moment also better supports telescopic joint brings long force arm working condition.