Integrated mechanical arm and mobile robot

Abstract

The invention provides an integrated mechanical arm and a mobile robot, the integrated mechanical arm comprises a base, a rotating seat is arranged on the base, and the upper end of the rotating seat is rotatably connected with a mechanical big arm; the upper end of the mechanical large arm is rotationally connected with the mechanical small arm; a first adapter shell is arranged at the front end of the mechanical small arm, and a first joint module is arranged in the first adapter shell; the two ends of the first joint module are rotationally connected with mechanical cantilevers; a second joint module is arranged on the mechanical cantilever, and a clamp adapter flange is arranged on the second joint module. The structure weight can be integrally reduced, the overall power consumption can be reduced, and the flexibility of the mechanical arm can be improved.

Description

Technical Field

[0001] The present invention relates to a robot, and in particular to an integrated mechanical arm and a mobile robot. Background Art

[0002] Industrial robots refer to robots used in industrial fields such as manufacturing. They are usually special, heavy-duty, high-speed, and can complete high-precision and high-efficiency production and processing tasks. Collaborative robots are a new type of robots that can work with humans in the same workspace to complete tasks that require collaboration, such as assembly, handling, labeling, etc.

[0003] Industrial robots are usually large, monstrous robots with high payload, high precision and high speed. Collaborative robots are relatively small and light, usually in the form of mechanical arms, with lower payload and speed, so their ability to work with human employees is greatly improved.

[0004] Because it is necessary to provide a robot that can combine the advantages of industrial robots and collaborative robots, so as to expand the application scenarios of robots and solve problems such as handling and transportation in some complex scenarios. Summary of the invention

[0005] In view of the defects in the prior art, an object of the present invention is to provide an integrated mechanical arm and a mobile robot.

[0006] The integrated mechanical arm provided by the present invention comprises:

[0007] A base, wherein a rotating base is provided on the base, wherein the upper end of the rotating base is rotatably connected to a mechanical arm; and the upper end of the mechanical arm is rotatably connected to a mechanical small arm;

[0008] The front end of the mechanical arm is provided with a first adapter housing, and the first adapter housing is provided with a first joint module; the two ends of the first joint module are rotatably connected to the mechanical wrist arm;

[0009] The mechanical wrist arm is provided with a second joint module, and the second joint module is provided with a fixture adapter flange.

[0010] Preferably, it also includes a balancing cylinder;

[0011] The upper end of the balancing cylinder is connected to the mechanical arm, and the lower end is connected to the rotating seat.

[0012] Preferably, it also includes an upper support and a lower support;

[0013] The upper support is arranged at the upper end of the mechanical arm, and the lower support is arranged on the rotating seat;

[0014] The upper support is provided with an upper support shaft, and the lower support is provided with a lower support shaft;

[0015] The upper end of the balancing cylinder is sleeved on the upper support shaft, and the lower end of the balancing cylinder is sleeved on the lower support shaft.

[0016] Preferably, the balancing cylinder adopts a nitrogen spring; the nitrogen spring comprises a main body and a piston rod;

[0017] The piston end of the piston rod is located in the main body; the front end of the piston rod is sleeved on the upper support shaft;

[0018] The lower end of the main body is sleeved on the upper support shaft.

[0019] Preferably, the mechanical wrist arm comprises a front side plate, a left side plate and a right side plate;

[0020] One end of the front side plate is connected to the left side plate, and the other end is connected to the right side plate to form a U-shaped structure;

[0021] The front side plate is provided with a first flange connection ring, and the end of the right side plate is provided with a second flange connection ring;

[0022] The front end of the second joint module is arranged in the first flange connecting ring and is fixed to the mechanical wrist arm through the first flange; the front end of the first joint module is arranged in the second flange connecting ring and is fixed to the mechanical wrist arm through the second flange.

[0023] Preferably, the first adapter housing comprises a first mounting housing and an adapter disc of an integrated structure;

[0024] The adapter disc is connected to the front end surface of the mechanical arm; the first joint module is arranged in the first mounting shell;

[0025] A mounting hole is provided on the side end surface of the first mounting shell away from the first joint module; a bearing is provided in the mounting hole;

[0026] A third flange connecting ring is provided at the end of the left side plate; the left side plate is connected to the bearing inner ring through the bearing flange in the third flange connecting ring, so as to install the left side plate of the robotic arm onto the first adapter shell.

[0027] Preferably, the upper end of the mechanical large arm is rotatably connected to the mechanical small arm via a second adapter shell.

[0028] Preferably, the second adapter housing includes a second mounting housing and a third mounting housing connected to each other;

[0029] A first reducer and a first drive motor are arranged in the second installation housing; the rear end of the mechanical arm is connected to the output flange of the first reducer; the first drive motor drives the mechanical arm to rotate through the first reducer;

[0030] A second reducer and a second drive motor are arranged in the third installation shell; the upper end of the mechanical arm is connected to the second reducer; the output flange of the second reducer is connected to the inner wall surface of the third installation shell; the second drive motor drives the mechanical arm to swing up and down through the second reducer.

[0031] Preferably, a mounting flange is provided at the bottom end of the rotating seat; the mounting flange is connected to the second reducer on the base; a fixed protrusion extends outward from the mounting flange;

[0032] A fixing groove matching the fixing protrusion is provided on one side surface of the lower support so that the lower support is fixed on the mounting flange;

[0033] A lower support shaft is arranged on one end of the lower support away from the mounting flange, and the lower end of the balancing cylinder is sleeved on the lower support shaft.

[0034] The mobile robot provided according to the present invention comprises: the integrated mechanical arm as described above, and also comprises a mobile base;

[0035] A mobile base, used to move to any position or pause at any position and determine the orientation angle according to the received control command;

[0036] The integrated mechanical arm is arranged on the mobile base, and is used to move the target box conveyed by the first conveyor to a discharge position, or to move the target box on the discharge position to the first conveyor.

[0037] Compared with the prior art, the present invention has the following beneficial effects:

[0038] The present invention has a rotating seat on the base, the upper end of the rotating seat is rotatably connected to the mechanical arm, the upper end of the mechanical arm is rotatably connected to the mechanical fork arm, the front end of the mechanical fork arm is provided with a first adapter shell, a first joint module is provided in the first adapter shell, both ends of the first joint module are rotatably connected to the mechanical wrist arm, the mechanical wrist arm is provided with a second joint module, and the second joint module is provided with a fixture adapter flange, which can not only reduce the overall structural weight, reduce the overall power consumption, but also improve the flexibility of the mechanical arm;

[0039] In the present invention, by setting a balancing cylinder, the upper end of the balancing cylinder is connected to the mechanical arm, and the lower end is connected to the rotating seat, so that the requirement for the output torque of the driving motor can be reduced. Therefore, a 48V driving motor can also drive the movement of the medium-sized industrial mechanical arm through the setting;

[0040] In the prior art, a robot with a load of 50kg and a wingspan of about 2 meters generally weighs about 500kg to 1 ton, while the robot of the present invention weighs only 250kg, having a higher load-to-weight ratio. BRIEF DESCRIPTION OF THE DRAWINGS

[0041] In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the following will briefly introduce the drawings required for use in the embodiments or the prior art descriptions. Obviously, the drawings in the following descriptions are only embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on the provided drawings without creative work. By reading the detailed description of the non-limiting embodiments with reference to the following drawings, other features, purposes and advantages of the present invention will become more obvious:

[0042] Figure 1 Schematic diagram of the structure of the integrated mechanical arm in an embodiment of the present invention;

[0043] Figure 2 Schematic diagram of the installation of the mechanical arm in the embodiment of the present invention;

[0044] Figure 3 An exploded schematic diagram of a robotic wrist and joint module in an embodiment of the present invention;

[0045] Figure 4 Schematic diagram of the structure of the mechanical arm in the embodiment of the present invention;

[0046] Figure 5 It is a schematic structural diagram of a first adapter housing in an embodiment of the present invention;

[0047] Figure 6 is a schematic diagram of the matching relationship of the second adapter housing in an embodiment of the present invention;

[0048] Figure 7 It is a schematic structural diagram of a second adapter housing in an embodiment of the present invention;

[0049] Figure 8 is a schematic diagram of the structure of a balancing cylinder in an embodiment of the present invention; and

[0050] Fig. 9 Schematic diagram of the structure of the lower support in an embodiment of the present invention.

[0051] In the figure:

[0052] 1 is the base; 2 is the rotating seat; 3 is the mechanical arm; 4 is the second adapter shell; 401 is the second installation shell; 402 is the third installation shell; 403 is the first drive motor; 404 is the first reducer; 405 is the second drive motor; 406 is the second reducer; 5 is the mechanical forearm; 6 is the mechanical wrist arm; 601 is the front side plate; 602 is the left side plate; 603 is the right side plate; 7 is the balance cylinder; 701 is the main body; 702 is the piston rod; 703 is the upper support; 704 is the lower support; 7041 is the fixing groove; 7042 is the lower support shaft hole; 8 is the first joint module; 9 is the first adapter shell; 901 is the adapter disc; 902 is the first installation shell; 903 is the bearing; 10 is the second joint module; 11 is the bearing flange. DETAILED DESCRIPTION

[0053] The present invention is described in detail below in conjunction with specific embodiments. The following embodiments will help those skilled in the art to further understand the present invention, but are not intended to limit the present invention in any form. It should be noted that, for those of ordinary skill in the art, several variations and improvements may be made without departing from the concept of the present invention. These all belong to the protection scope of the present invention.

[0054] It should be noted that when a component is referred to as being "fixed to" or "disposed on" another component, it can be directly on the other component or indirectly on the other component. When an element is referred to as being "connected to" another element, it can be directly connected to the other element or indirectly connected to the other element. In addition, connection can be used for fixing or for circuit connection.

[0055] It should be understood that the terms "length", "width", "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inside", "outside", etc., indicating the orientation or position relationship, are based on the orientation or position relationship shown in the accompanying drawings, and are only for the convenience of describing the embodiments of the present invention and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be understood as a limitation on the present invention.

[0056] In addition, the terms "first" and "second" are used for descriptive purposes only and should not be understood as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include one or more of the features. In the description of the embodiments of the present invention, the meaning of "plurality" is two or more, unless otherwise clearly and specifically defined.

[0057] The present invention provides an integrated mechanical arm, comprising:

[0058] A base, wherein a rotating base is provided on the base, wherein the upper end of the rotating base is rotatably connected to a mechanical arm; and the upper end of the mechanical arm is rotatably connected to a mechanical small arm;

[0059] The front end of the mechanical arm is provided with a first adapter housing, and the first adapter housing is provided with a first joint module; the two ends of the first joint module are rotatably connected to the mechanical wrist arm;

[0060] The mechanical wrist arm is provided with a second joint module, and the second joint module is provided with a fixture adapter flange.

[0061] The present invention has a rotating seat on the base, the upper end of the rotating seat is rotatably connected to a mechanical arm, the upper end of the mechanical arm is rotatably connected to a mechanical forearm, a first adapter shell is provided at the front end of the mechanical forearm, a first joint module is provided in the first adapter shell, both ends of the first joint module are rotatably connected to a mechanical wrist arm, a second joint module is provided on the mechanical wrist arm, and a clamp adapter flange is provided on the second joint module, which can not only reduce the overall structural weight and overall power consumption, but also improve the flexibility of the mechanical arm.

[0062] The above is the core idea of ​​the present invention. In order to make the above-mentioned purposes, features and advantages of the present invention more obvious and easy to understand, the technical solutions in the embodiments of the present invention will be clearly and completely described below in combination with the drawings in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0063] Figure 1 is a schematic diagram of the structure of an integrated mechanical arm in an embodiment of the present invention, Figure 2 Schematic diagram of the installation of the mechanical arm in the embodiment of the present invention. Figure 3 FIG. 1 is an exploded schematic diagram of a robotic wrist and joint module according to an embodiment of the present invention. Figure 1 , Figure 2 , Figure 3 As shown, the integrated mechanical arm provided by the present invention comprises:

[0064] A base 1, wherein a rotating base 2 is disposed on the base 1, wherein the upper end of the rotating base 2 is rotatably connected to a mechanical arm 3; and the upper end of the mechanical arm 3 is rotatably connected to a mechanical small arm 5;

[0065] The front end of the mechanical arm 5 is provided with a first adapter housing 9, and the first adapter housing 9 is provided with a first joint module 8; both ends of the first joint module 8 are rotatably connected to the mechanical wrist arm 6;

[0066] The robotic wrist arm 6 is provided with a second joint module 10 , and the second joint module 10 is provided with a fixture adapter flange.

[0067] In the embodiment of the present invention, the rotating seat 2 can rotate along the axial direction of the base 1, the mechanical arm 3 can pitch and rotate around the upper end of the rotating seat 2, the mechanical small arm 5 can pitch and rotate around the upper end of the mechanical arm 3 and can move axially under the drive of the first drive motor 403, the mechanical wrist arm 6 can pitch and rotate under the drive of the first joint module 8, and the second joint module 10 can drive the fixture loaded thereon to rotate circumferentially.

[0068] The joint module can realize rapid production and assembly of robots, saving the manpower and time costs of selecting, designing, purchasing and assembling hundreds of mechanical and electronic components.

[0069] The joint module comprises:

[0070] The motor end absolute encoder is used to measure the joint speed. It is placed at the end of the motor to collect the motor speed.

[0071] The output end multi-turn absolute encoder can memorize single-turn and multi-turn power-off positions and achieve full closed-loop control;

[0072] Frameless torque motor, used to output torque to the reducer;

[0073] Precision harmonic reducers, including 50 reduction ratio, 80 reduction ratio, 100 reduction ratio or 120 reduction ratio.

[0074] DC drive, used to change the motor voltage to control the brushless DC speed;

[0075] Friction brake holder, used for braking and position holding of joint modules, can realize full-load zero-speed start and full-speed heavy-load emergency stop;

[0076] Torque sensors are used to measure torque and speed.

[0077] Figure 8 FIG. 1 is a schematic diagram of the structure of the balancing cylinder in an embodiment of the present invention. Figure 8 As shown, the integrated mechanical arm provided by the present invention further includes a balancing cylinder 7, an upper support 703 and a lower support 704;

[0078] The upper end of the balancing cylinder 7 is connected to the mechanical arm 3, and the lower end is connected to the rotating seat 2;

[0079] The upper support 703 is arranged at the upper end of the mechanical arm 3, and the lower support 704 is arranged on the rotating seat 2;

[0080] The upper support 703 is provided with an upper support shaft, and the lower support 704 is provided with a lower support shaft;

[0081] The upper end of the balancing cylinder 7 is sleeved on the upper support shaft, and the lower end of the balancing cylinder 7 is sleeved on the lower support shaft.

[0082] In the embodiment of the present invention, the balancing cylinder 7 adopts a nitrogen spring; the nitrogen spring includes a main body 701 and a piston rod 702;

[0083] The piston end of the piston rod 702 is located in the main body 701; the front end of the piston rod 702 is sleeved on the upper support shaft;

[0084] The lower end of the main body 701 is sleeved on the upper support shaft.

[0085] The main body 701 and the piston rod 702 are coaxially arranged, and the piston end of the piston rod 702 can move in the main body 701 along the axial direction of the main body 701 .

[0086] Figure 4 FIG. 1 is a schematic diagram of the structure of the mechanical wrist arm in an embodiment of the present invention. Figure 4 As shown, the mechanical wrist arm 6 includes a front side plate 601, a left side plate 602 and a right side plate 603;

[0087] One end of the front side plate 601 is connected to the left side plate 602, and the other end is connected to the right side plate 603 to form a U-shaped structure;

[0088] The front side plate 601 is provided with a first flange connection ring, and the end of the right side plate 603 is provided with a second flange connection ring;

[0089] The front end of the second joint module 10 is arranged in the first flange connecting ring and is fixed to the robotic arm 6 through the first flange; the front end of the first joint module 8 is arranged in the second flange connecting ring and is fixed to the robotic arm 6 through the second flange.

[0090] In the embodiment of the present invention, the left side plate 602 and the right side plate 603 are arranged in parallel, and the left side plate 602 and the right side plate 603 are perpendicular to the front side plate 601 .

[0091] Figure 5 FIG. 1 is a schematic diagram of the structure of the first adapter housing in an embodiment of the present invention. Figure 5 As shown, the first adapter housing 9 includes a first mounting housing 902 and an adapter disc 901 of an integrated structure;

[0092] The adapter disc 901 is connected to the front end surface of the mechanical arm 5; the first joint module 8 is arranged in the first installation shell 902;

[0093] A mounting hole is provided on the side end surface of the first mounting shell 902 away from the first joint module 8; a bearing 903 is provided in the mounting hole;

[0094] A third flange connecting ring is provided at the end of the left side plate 602; the left side plate 602 is connected to the inner ring of the bearing 903 through the bearing flange in the third flange connecting ring to install the left side plate 602 of the robotic arm 6 on the first adapter shell 9.

[0095] In the embodiment of the present invention, the adapter disc 901 is connected to the first installation shell 902 via a transition column, and the axis of the transition column is perpendicular to the axes of the adapter disc 901 and the first installation shell 902 .

[0096] The flange end of the bearing flange is limited on the left side plate 602 , and the bearing connection end of the bearing flange passes through the third flange connection ring to be fixedly connected to the inner ring of the bearing 903 .

[0097] Figure 6 FIG. 1 is a schematic diagram of the matching relationship of the second adapter housing in an embodiment of the present invention. Figure 6 As shown, the upper end of the mechanical arm 3 is rotatably connected to the mechanical arm 5 via a second adapter shell 4 .

[0098] In the embodiment of the present invention, the upper end of the second adapter housing 4 is connected to the lower end of the second adapter housing 4 , and the rear end of the mechanical arm 5 is connected to the front end of the second adapter housing 4 .

[0099] Figure 7 FIG. 1 is a schematic diagram of the structure of the second adapter housing in an embodiment of the present invention. Figure 7 As shown, the second adapter housing 4 includes a second installation housing 401 and a third installation housing 402 connected to each other;

[0100] A first reducer 404 and a first drive motor 403 are arranged in the second installation housing 401; the rear end of the mechanical arm 5 is connected to the output flange of the first reducer 404; the first drive motor 403 drives the mechanical arm 5 to rotate through the first reducer 404;

[0101] A second reducer 406 and a second drive motor 405 are arranged in the third mounting shell 402; the upper end of the mechanical arm 3 is fixedly connected to the second reducer 406, and the output flange of the second reducer 406 is connected to the inner wall surface of the third mounting shell 402; the second drive motor 405 drives the mechanical arm 5 to swing up and down through the second reducer 406.

[0102] In the embodiment of the present invention, the central axis of the second installation housing 401 is perpendicular to the central axis of the third installation housing 402;

[0103] The second speed reducer 406 is located on one side of the third installation housing 402 , and the second driving motor 405 is located on the other side of the third installation housing 402 .

[0104] In the embodiment of the present invention, the first drive motor 403 and the second drive motor 405 are powered by a 48V power supply;

[0105] The first joint module 8 , the second joint module 10 and the rotating seat 2 are all powered by a 48V power supply.

[0106] In one embodiment of the present invention, a third reducer and a third drive motor are provided at the bottom end of the rotating seat 2; the third drive motor drives the rotating seat 2 to rotate relative to the base 1 through the third reducer;

[0107] A fourth speed reducer and a fourth drive motor are disposed at the top of the rotating seat 2; the fourth drive motor drives the mechanical arm 3 to perform pitch motion through the third speed reducer.

[0108] Fig. 9 Schematic diagram of the structure of the lower support in the embodiment of the present invention. Fig. 9 As shown, a mounting flange is provided at the bottom end of the rotating seat 2; the mounting flange is connected to the second reducer 406 on the base 1; a fixed protrusion extends outward from the mounting flange;

[0109] A fixing groove 7041 matching with the fixing protrusion is provided on one side surface of the lower support 704, so that the lower support 704 is fixed on the mounting flange;

[0110] A lower support shaft is provided on one end of the lower support 704 away from the mounting flange, and the lower end of the balancing cylinder 7 is sleeved on the lower support shaft.

[0111] In the embodiment of the present invention, a plurality of first screw holes are arranged at the bottom of the fixing groove 7041, and a plurality of second screw holes are arranged on the fixing protrusion block, and the lower support 704 is fixed to the mounting flange by bolts arranged in the first screw holes and the second screw holes.

[0112] In one embodiment of the present invention, the lower side surface of the fixing groove 7041 is tangent to the upper end surface of the base 1 .

[0113] In an embodiment of the present invention, the mobile robot provided by the present invention comprises: the integrated mechanical arm as described above, and also comprises a mobile base;

[0114] A mobile base, used to move to any position or pause at any position and determine the orientation angle according to the received control command;

[0115] The integrated mechanical arm is arranged on the mobile base, and is used to move the target box conveyed by the first conveyor to a discharge position, or to move the target box on the discharge position to the first conveyor.

[0116] In the embodiment of the present invention, a rotating seat is arranged on the base, the upper end of the rotating seat is rotatably connected to the mechanical arm, the upper end of the mechanical arm is rotatably connected to the mechanical forearm, the front end of the mechanical forearm is arranged with a first adapter shell, a first joint module is arranged in the first adapter shell, both ends of the first joint module are rotatably connected to the mechanical wrist arm, a second joint module is arranged on the mechanical wrist arm, and a fixture adapter flange is arranged on the second joint module, which can not only reduce the overall structural weight and the overall power consumption, but also improve the flexibility of the mechanical arm;

[0117] In the embodiment of the present invention, a balancing cylinder is provided to connect the upper end of the balancing cylinder to the mechanical arm and the lower end to the rotating seat, thereby reducing the requirement on the output torque of the drive motor. Therefore, a 48V drive motor can also drive the movement of a medium-sized industrial mechanical arm.

[0118] In this specification, each embodiment is described in a progressive manner, and each embodiment focuses on the differences from other embodiments, and the same and similar parts between the embodiments can be referred to each other. The above description of the disclosed embodiments enables professionals and technicians in this field to implement or use the present invention. Various modifications to these embodiments will be obvious to professionals and technicians in this field, and the general principles defined herein can be implemented in other embodiments without departing from the spirit or scope of the present invention. Therefore, the present invention will not be limited to these embodiments shown in this article, but will comply with the widest range consistent with the principles and novel features disclosed herein.

[0119] The above describes the specific embodiments of the present invention. It should be understood that the present invention is not limited to the above specific embodiments, and those skilled in the art may make various modifications or variations within the scope of the claims, which do not affect the essence of the present invention.

Claims

1. An integrated robotic arm, characterized in that: include: A base, wherein a rotating base is provided on the base, and the upper end of the rotating base is rotatably connected to the mechanical arm; The upper end of the mechanical arm is rotatably connected to the mechanical arm; A first adapter housing is disposed at the front end of the mechanical arm, and a first joint module is disposed in the first adapter housing; The two ends of the first joint module are rotatably connected to the mechanical wrist arm; The mechanical wrist arm is provided with a second joint module, and the second joint module is provided with a fixture adapter flange.

2. The integrated robotic arm according to claim 1, characterized in that: Also included is a balancing cylinder; The upper end of the balancing cylinder is connected to the mechanical arm, and the lower end is connected to the rotating seat.

3. The integrated robotic arm according to claim 2, characterized in that: Also includes an upper support and a lower support; The upper support is arranged at the upper end of the mechanical arm, and the lower support is arranged on the rotating seat; The upper support is provided with an upper support shaft, and the lower support is provided with a lower support shaft; The upper end of the balancing cylinder is sleeved on the upper support shaft, and the lower end of the balancing cylinder is sleeved on the lower support shaft.

4. The integrated robotic arm according to claim 3, characterized in that: The balancing cylinder adopts a nitrogen spring; the nitrogen spring comprises a main body and a piston rod; The piston end of the piston rod is located in the main body; the front end of the piston rod is sleeved on the upper support shaft; The lower end of the main body is sleeved on the upper support shaft.

5. The integrated robotic arm according to claim 1, characterized in that: The mechanical wrist arm comprises a front side plate, a left side plate and a right side plate; One end of the front side plate is connected to the left side plate, and the other end is connected to the right side plate to form a U-shaped structure; The front side plate is provided with a first flange connection ring, and the end of the right side plate is provided with a second flange connection ring; The front end of the second joint module is arranged in the first flange connecting ring and is fixed to the mechanical wrist arm through the first flange; the front end of the first joint module is arranged in the second flange connecting ring and is fixed to the mechanical wrist arm through the second flange.

6. The integrated robotic arm according to claim 5, characterized in that: The first adapter housing comprises a first mounting housing and an adapter disc of an integrated structure; The adapter disc is connected to the front end surface of the mechanical arm; the first joint module is arranged in the first mounting shell; A mounting hole is provided on the side end surface of the first mounting shell away from the first joint module; a bearing is provided in the mounting hole; A third flange connecting ring is provided at the end of the left side plate; the left side plate is connected to the bearing inner ring through the bearing flange in the third flange connecting ring, so as to install the left side plate of the robotic arm onto the first adapter shell.

7. The integrated robotic arm according to claim 1, characterized in that: The upper end of the mechanical large arm is rotatably connected to the mechanical small arm through a second adapter shell.

8. The integrated robotic arm according to claim 7, characterized in that: The second adapter housing includes a second mounting housing and a third mounting housing connected to each other; A first reducer and a first drive motor are arranged in the second installation housing; the rear end of the mechanical arm is connected to the output flange of the first reducer; the first drive motor drives the mechanical arm to rotate through the first reducer; A second reducer and a second drive motor are arranged in the third installation shell; the upper end of the mechanical arm is connected to the second reducer; the output flange of the second reducer is connected to the inner wall surface of the third installation shell; the second drive motor drives the mechanical arm to swing up and down through the second reducer.

9. The integrated robotic arm according to claim 3, characterized in that: A mounting flange is provided at the bottom end of the rotating seat; the mounting flange is connected to the second reducer on the base; a fixed protrusion extends outward from the mounting flange; A fixing groove matching the fixing protrusion is provided on one side surface of the lower support so that the lower support is fixed on the mounting flange; A lower support shaft is arranged on one end of the lower support away from the mounting flange, and the lower end of the balancing cylinder is sleeved on the lower support shaft.

10. A mobile robot, characterized in that: include: The integrated robotic arm of any one of claims 1 to 9, further comprising a mobile base; A mobile base, used to move to any position or pause at any position and determine the orientation angle according to the received control command; The integrated mechanical arm is arranged on the mobile base, and is used to move the target box conveyed by the first conveyor to a discharge position, or to move the target box on the discharge position to the first conveyor.

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