A fully free-degree motor-driven joint

Abstract

This invention provides a fully free-degree-of-freedom motor-driven joint, relating to the field of underwater robot technology. It includes an upper robotic arm and a lower robotic arm, which are interconnected by a drive mechanism. The drive mechanism controls the angle adjustment of the upper robotic arm. In this invention, a motor drives a first rotating shaft to rotate, which in turn drives a movable block and the upper robotic arm to rotate through the engagement of a second positioning block and a second positioning groove, and a first gear and a second gear. This achieves fully free-degree-of-freedom rotation of the upper robotic arm through a single drive joint, reducing the overall size and weight of the underwater robot while improving its overall flexibility.

Description

Technical Field

[0001] This invention relates to the field of underwater robot technology, and more specifically, to a fully free-degree-of-freedom motor-driven joint. Background Technology

[0002] Marine robots, also known as underwater robots, are robots designed for extreme underwater operations. The underwater environment is harsh and dangerous, and human diving depth is limited, making underwater robots crucial tools for ocean exploration. When working underwater, these robots use robotic arms to grasp and sample objects on the seabed. The drive joints are vital components of these arms, controlling their vertical or horizontal rotation. However, since a single drive joint can only control vertical or horizontal rotation, achieving full-degree-of-freedom rotation requires the coordination of multiple robotic arms, significantly increasing the overall size and weight of the underwater robot and reducing its flexibility. Therefore, we propose a fully-degree-of-freedom motor-driven joint to address these issues. Summary of the Invention

[0003] To address the shortcomings of existing technologies, this invention provides a fully free-degree-of-freedom motor-driven joint, which solves the problem that a single drive joint can only control up-down or left-right rotation. This leads to the need for coordination between multiple robotic arms when full-degree-of-freedom rotation is required, which greatly increases the overall size and weight of the underwater robot and results in low flexibility.

[0004] To achieve the above objectives, the technical solution adopted by the present invention is as follows:

[0005] A fully free-degree-of-freedom motor-driven joint includes an upper robotic arm and a lower robotic arm, which are connected to each other by a drive mechanism. The drive mechanism is used to control the upper robotic arm to adjust its angle.

[0006] The drive mechanism includes a movable block, which is movably mounted inside the lower end of the upper robotic arm and connected to the lower robotic arm. A worm gear is movably mounted inside the upper end of the movable block, with both ends of the worm gear movably penetrating the interior of the movable block and connected to the upper robotic arm. A worm is movably mounted inside the rear end of the movable block, and the worm gear meshes with the worm gear.

[0007] The upper part of the lower robotic arm is movably installed with a first rotating shaft. The lower end of the first rotating shaft is connected to the output end of a motor. The motor is installed inside the lower robotic arm. The upper end of the first rotating shaft is movably installed inside a movable block, and the first rotating shaft is connected to a worm gear.

[0008] Preferably, the lower robotic arm has a movable groove at its upper interior, the motor is installed at the lower interior of the movable groove, a rotating rod is fixedly installed at the output end of the motor, a limit block is fixedly installed at the upper end of the rotating rod, a limit groove is provided at the lower end of the first rotating shaft, and the limit block is engaged and installed inside the limit groove.

[0009] Preferably, a connecting plate is fixedly installed on the outer side of the rod body inside the movable groove of the first rotating shaft, and a first push frame is fitted and installed on the outer side of the connecting plate. The two ends of the first push frame are respectively connected to the output end of the electric push rod, and the electric push rod is respectively installed at the lower end of the movable groove.

[0010] Preferably, a rotating disk is fixedly installed on the lower surface of the movable block, the lower end of the rotating disk is movably installed inside the upper end of the lower robotic arm, and the rotating disk and the movable slot are connected to each other, and the rod of the first rotating shaft is movably installed inside the rotating disk.

[0011] The upper surface of the rotating disk is provided with a first positioning groove. Connecting frames are movably installed through both ends of the upper surface inside the movable groove. The lower ends of the connecting frames are fixedly connected to the first pushing frame. The upper ends of the connecting frames are fixedly installed with first positioning blocks. The first positioning blocks are respectively engaged and installed inside the first positioning groove.

[0012] Preferably, a sealing block is fixedly installed on the lower surface of the movable block, and a sealing groove is provided on the upper surface of the lower robotic arm. The sealing blocks are respectively engaged and installed inside the sealing groove, and a plurality of sealing rings are installed at the lower end of the sealing groove. The sealing rings and the sealing blocks are in contact with each other.

[0013] Preferably, the movable block has a groove inside, and a through hole is provided on the lower surface of the groove. The upper end of the first rotating shaft is movably installed inside the through hole. A second positioning groove is provided at the lower end of the through hole. A second positioning block is fixedly installed on the outside of the rod body inside the rotating disk of the first rotating shaft. The second positioning block and the second positioning groove are engaged and connected.

[0014] Preferably, a third rotating shaft is movably installed through the upper part of the groove, and the two ends of the third rotating shaft are fixedly connected to the upper robotic arm. A worm gear is installed on the outside of the rod body inside the groove. A second rotating shaft is movably installed at the rear end of the groove, and a worm is fixedly installed at the upper end of the second rotating shaft. The worm and the worm gear are meshed together.

[0015] Preferably, a fixing plate is fixedly installed on the outer side of the second shaft, and a first gear is fixedly installed on the lower end of the fixing plate. A second gear is movably sleeved on the outer side of the shaft inside the groove of the first shaft. The second gear and the first gear are meshed and connected. The upper surface of the second gear is in contact with the lower surface of the fixing plate.

[0016] Preferably, an extension frame is fixedly installed at the lower end of the second gear, and the extension frame is movably sleeved on the outside of the rod body of the first rotating shaft. A push plate is fixedly installed at the lower end of the rod body of the first rotating shaft located inside the groove. A first spring is provided between the push plate and the extension frame, and the first spring is sleeved on the outside of the rod body of the first rotating shaft.

[0017] The upper surface of the second gear is provided with a third positioning groove, and a third positioning block is fixedly installed on the upper end of the shaft of the first rotating shaft. The third positioning block and the third positioning groove are engaged and connected.

[0018] Preferably, a second pusher is movably mounted through the outer side of the second shaft, the upper surface of the second pusher is in contact with the lower surface of the push plate, a second spring is mounted at the lower end of the second pusher, the second spring is sleeved and mounted on the outer side of the second shaft, the side of the second pusher away from the push plate is movably mounted inside the guide frame, and the guide frame is fixedly mounted inside the groove on one side.

[0019] The upper surface of the second push frame is fixedly installed with a fourth positioning block at both ends, and the lower surface of the first gear is provided with a fourth positioning groove. The fourth positioning block and the fourth positioning groove are engaged and connected.

[0020] 1. In this invention, the first rotating shaft is driven by a motor to rotate, and the first rotating shaft drives the movable block and the upper robotic arm to rotate through the cooperation between the second positioning block and the second positioning groove and the first gear and the second gear, respectively. This achieves full-degree-of-freedom rotation of the upper robotic arm through a single drive joint, which reduces the overall size and weight of the underwater robot and improves its overall flexibility.

[0021] 2. In this invention, when it is necessary to control the upper robotic arm to rotate around the first rotating shaft, the electric push rod will push the first push frame upward, thereby causing the first push frame to drive the first rotating shaft and the connecting frame to move up and down. This allows the first rotating shaft to drive the second positioning block to engage inside the second positioning groove. At the same time, the connecting frame will cause the first positioning block to separate from the first positioning groove. Then, the motor can realize the rotation of the movable block and the upper robotic arm through the first rotating shaft, the second positioning block, and the second positioning groove, allowing the upper robotic arm to rotate freely around the first rotating shaft. This makes it easier for the upper robotic arm to capture or collect target objects. When it is not necessary to control the rotation of the movable block, the connecting frame or the positioning block will engage inside the first positioning groove to position the connecting plate and the movable block, thereby maintaining the stability of the upper robotic arm.

[0022] 3. In this invention, when it is necessary to control the upper robotic arm to rotate around the third shaft, the motor drives the second gear to rotate through the first shaft. Then, the second gear controls the rotation of the second shaft through the first gear. Then, through the cooperation of the worm and worm wheel, the third shaft drives the upper robotic arm to rotate, which, in conjunction with the rotation of the movable block, adjusts the position and angle of the upper robotic arm. This is simpler and more convenient. Furthermore, when the movable block and the upper robotic arm rotate, the fourth positioning block and the fourth positioning groove are engaged by the push of the second spring to achieve the positioning of the first gear, thus keeping the upper robotic arm stable.

[0023] 4. In this invention, the sealing block, sealing groove and sealing ring work together to achieve sealing between the movable block and the lower robotic arm, thereby preventing seawater from entering the interior of the movable groove and recess through the space between the movable block and the lower robotic arm and causing corrosion to the internal components, thus better protecting them and extending the overall service life. Attached Figure Description

[0024] Figure 1 This is a three-dimensional structural diagram of the present invention;

[0025] Figure 2 This is a front view structural diagram of the present invention;

[0026] Figure 3 This is a side view of the structure of the present invention;

[0027] Figure 4 yes Figure 2 A three-dimensional schematic diagram of the cross-sectional structure at point AA;

[0028] Figure 5 yes Figure 2 A three-dimensional schematic diagram of the cross-sectional structure at point BB;

[0029] Figure 6 yes Figure 2A three-dimensional schematic diagram of the cross-sectional structure at the CC point;

[0030] Figure 7 yes Figure 3 A three-dimensional schematic diagram of the cross-sectional structure at point DD;

[0031] Figure 8 yes Figure 4 Enlarged 3D structural diagram at point E;

[0032] Figure 9 yes Figure 5 Enlarged 3D structural diagram at point F;

[0033] Figure 10 yes Figure 6 A magnified three-dimensional structural diagram at point G in the middle;

[0034] Figure 11 yes Figure 7 A magnified three-dimensional structural diagram at point H in the middle;

[0035] Figure 12 yes Figure 8 A magnified three-dimensional structural diagram at point I in the middle.

[0036] In the diagram: 1. Upper robotic arm; 2. Lower robotic arm; 3. Drive mechanism; 301. Movable groove; 302. Motor; 303. Electric push rod; 304. Rotating rod; 305. First rotating shaft; 306. Limiting groove; 307. Limiting block; 308. First push frame; 309. Connecting plate; 310. Sealing block; 311. Sealing groove; 312. Sealing ring; 313. Rotating disk; 314. Connecting frame; 315. First positioning groove; 316. First positioning block; 317. Second positioning block; 318. Through hole 319. Second positioning groove; 320. Second rotating shaft; 321. Fixed plate; 322. First gear; 323. Movable block; 324. Groove; 325. Push plate; 326. Second gear; 327. Extension frame; 328. First spring; 329. Third positioning groove; 330. Third positioning block; 331. Guide frame; 332. Second push frame; 333. Fourth positioning block; 334. Second spring; 335. Fourth positioning groove; 336. Worm gear; 337. Worm; 338. Third rotating shaft. Detailed Implementation

[0037] The technical solutions of the present invention will be clearly and completely described below with reference to the embodiments of the present invention. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those of ordinary skill in the art without creative effort are within the scope of protection of the present invention.

[0038] like Figures 1 to 12 As shown, a fully free-degree-of-freedom motor-driven joint includes an upper robotic arm 1 and a lower robotic arm 2, which are connected to each other by a drive mechanism 3. The drive mechanism 3 is used to control the upper robotic arm 1 to adjust its angle.

[0039] The drive mechanism 3 includes a movable block 323, which is movably installed inside the lower end of the upper robotic arm 1. The lower end of the movable block 323 is connected to the lower robotic arm 2. A worm gear 336 is movably installed inside the upper end of the movable block 323. Both ends of the worm gear 336 movably pass through the interior of the movable block 323 and are connected to the upper robotic arm 1. A worm 337 is movably installed inside the rear end of the movable block 323. The worm 337 is meshed with the worm gear 336.

[0040] The upper part of the lower robotic arm 2 is movably installed with a first rotating shaft 305. The lower end of the first rotating shaft 305 is connected to the output end of the motor 302. The motor 302 is installed inside the lower robotic arm 2. The upper end of the first rotating shaft 305 is movably installed inside the movable block 323, and the first rotating shaft 305 is connected to the worm gear 337.

[0041] like Figure 8 and Figure 11 As shown, the lower robotic arm 2 has an upper movable groove 301 inside, a motor 302 is installed at the lower end of the movable groove 301, a rotating rod 304 is fixedly installed at the output end of the motor 302, a limit block 307 is fixedly installed at the upper end of the rotating rod 304, a limit groove 306 is provided at the lower end of the first rotating shaft 305, the limit block 307 is engaged and installed inside the limit groove 306, a connecting plate 309 is fixedly installed on the outer side of the first rotating shaft 305 inside the movable groove 301, a first push frame 308 is engaged and installed on the outer side of the connecting plate 309, the two ends of the first push frame 308 are respectively connected to the output ends of the electric push rod 303, and the electric push rod 303 is respectively installed at the lower end of the movable groove 301.

[0042] When it is necessary to control the upper robotic arm 1 to rotate around the third rotating shaft 338, the electric push rod 303 controls the first rotating shaft 305 to remain stationary through the connecting plate 309 and the first push frame 308, so that the motor 302 drives the first rotating shaft 305 to rotate. Then the first rotating shaft 305 can drive the worm gear 337 to rotate through the first gear 322 and the second gear 326. Then the worm gear 337 can control the upper robotic arm 1 to rotate around the third rotating shaft 338 through the worm wheel 336.

[0043] The electric push rod 303 and the first push frame 308 are used to control the upward movement or reset of the first rotating shaft 305. When the first rotating shaft 305 moves upward, the first push frame 308 will drive the connecting frame 314 and the first positioning block 316 to move upward, causing the first positioning block 316 to separate from the first positioning groove 315. At the same time, the first rotating shaft 305 will drive the second positioning block 317 to engage inside the second positioning groove 319, connecting the first rotating shaft 305 with the movable block 323. The upper end of the first rotating shaft 305 will cause the third positioning block 330 to separate from the third positioning groove 329, so that when the first rotating shaft 305 rotates, only the movable block 323 and the upper robotic arm 1 can rotate 360° around the first rotating shaft 305. The worm 337 and worm wheel 336 will not rotate with the first rotating shaft 305 due to the separation between the second gear 326 and the first rotating shaft 305, thus better maintaining the angle of the upper robotic arm 1 when rotating around the third rotating shaft 338.

[0044] By cooperating with the first push frame 308 and the connecting plate 309, the first rotating shaft 305 can be controlled to move up and down, while not hindering the first rotating shaft 305 from rotating, thus increasing the moving speed of the first rotating shaft 305 when making adjustments.

[0045] Then, when the first rotating shaft 305 is reset, the electric push rod 303 will drive the first rotating shaft 305 and the connecting frame 314 to move downward through the first push frame 308 and the connecting plate 309, so that the first positioning block 316 and the third positioning block 330 are respectively engaged in the interior of the first positioning groove 315 and the third positioning groove 329, thereby positioning the rotating disk 313. At the same time, the first rotating shaft 305 is connected to the second gear 326. Then, the first rotating shaft 305 will drive the second positioning block 317 to separate from the second positioning groove 319, so that when the first rotating shaft 305 rotates, it can only drive the worm 337 and the worm wheel 336 to rotate, while the movable block 323 remains stable.

[0046] When the first rotating shaft 305 moves up and down through the limiting block 307 and the limiting groove 306, it is always connected to the rotating rod 304 and the motor 302, so that the motor 302 can control it to rotate.

[0047] like Figure 8 and Figure 5As shown, a rotating disk 313 is fixedly installed on the lower surface of the movable block 323. The lower end of the rotating disk 313 is movably installed inside the upper end of the lower robotic arm 2, and the rotating disk 313 is connected to the movable groove 301. The shaft of the first rotating shaft 305 is movably installed inside the rotating disk 313. A first positioning groove 315 is provided on the upper surface of the rotating disk 313. A connecting frame 314 is movably installed through both ends of the upper surface inside the movable groove 301. The lower ends of the connecting frame 314 are fixedly connected to the first push frame 308. A first positioning block 316 is fixedly installed on the upper end of the connecting frame 314. The first positioning block 316 is respectively engaged and installed inside the first positioning groove 315.

[0048] The rotating disk 313 is used to assist the movable block 323 in rotating around the first rotating shaft 305, thereby improving the stability of the movable block 323 during rotation.

[0049] Then, the connecting frame 314 and the first positioning block 316 are used to move with the first push frame 308. When it is necessary to control the rotation of the movable block 323, the connecting frame 314 and the first positioning block 316 will move upward with the first push frame 308, thereby separating the first positioning block 316 from the first positioning groove 315. Then, when it is not necessary to control the rotation of the movable block 323, the first push frame 308 will drive the connecting frame 314 and the first positioning block 316 to move downward, and finally allow the first positioning block 316 to re-engage inside the first positioning groove 315, thereby realizing the positioning work of the rotating disk 313 and the movable block 323.

[0050] like Figure 8 As shown, a sealing block 310 is fixedly installed on the lower surface of the movable block 323, and a sealing groove 311 is provided on the upper surface of the lower robotic arm 2. The sealing blocks 310 are respectively engaged and installed inside the sealing groove 311. Several sealing rings 312 are installed at the lower end of the sealing groove 311, and the sealing rings 312 and the sealing blocks 310 are in contact with each other.

[0051] The sealing block 310 is fitted inside the sealing groove 311 to achieve the sealing work between the movable block 323 and the lower robotic arm 2. Then, the sealing ring 312 is used to cooperate with the sealing block 310 and the sealing groove 311 to improve the sealing effect and prevent seawater from entering between the movable block 323 and the lower robotic arm 2, causing corrosion and rust on the internal components. In addition, the sealing block 310 can rotate with the movable block 323, which can improve the sealing efficiency and does not hinder the movable block 323 from adjusting its angle.

[0052] like Figures 8 to 12As shown, the movable block 323 has a groove 324 inside, and a through hole 318 is provided through the lower surface of the groove 324. The upper end of the first rotating shaft 305 is movably installed through the through hole 318. The lower end of the through hole 318 has a second positioning groove 319. The second positioning block 317 is fixedly installed on the outside of the rod body of the first rotating shaft 305 inside the rotating disk 313. The second positioning block 317 is engaged with the second positioning groove 319. The upper end of the groove 324 has a third rotating shaft 338 movably installed through it. The two ends of the third rotating shaft 338 are fixedly connected to the upper robotic arm 1. The outside of the rod body of the third rotating shaft 338 inside the groove 324 has a worm gear 336 installed. The rear end of the groove 324 has a second rotating shaft 320 movably installed. The upper end of the second rotating shaft 320 has a worm gear 337 fixedly installed. The worm gear 337 is meshed with the worm gear 336. The outside of the rod body of the second rotating shaft 320 has a fixed... A plate 321 is fixedly mounted with a first gear 322 at its lower end. A second gear 326 is movably mounted on the outer side of the rod body of the first rotating shaft 305 located inside the groove 324. The second gear 326 and the first gear 322 are meshed together. The upper surface of the second gear 326 is in contact with the lower surface of the fixed plate 321. An extension frame 327 is fixedly mounted on the lower end of the second gear 326 and is movably mounted on the outer side of the rod body of the first rotating shaft 305. A push plate 325 is fixedly mounted on the lower end of the rod body of the first rotating shaft 305 located inside the groove 324. A first spring 328 is provided between the push plate 325 and the extension frame 327 and is mounted on the outer side of the rod body of the first rotating shaft 305. A third positioning groove 329 is provided on the upper surface of the second gear 326. A third positioning block 330 is fixedly mounted on the upper end of the rod body of the first rotating shaft 305 and is engaged with the third positioning groove 329.

[0053] When the electric push rod 303 controls the first rotating shaft 305 to move upward, the first rotating shaft 305 moves upward along the through hole 318. At the same time, the first rotating shaft 305 will drive the second positioning block 317 to engage with the inside of the second positioning groove 319, so that the first rotating shaft 305 and the movable block 323 form a whole.

[0054] The upper end of the first rotating shaft 305 will cause the third positioning block 330 to separate from the third positioning groove 329, thus temporarily separating the first rotating shaft 305 from the second gear 326. Therefore, after the first rotating shaft 305 rotates, it can only drive the movable block 323 to rotate, but cannot drive the worm 337 and worm wheel 336.

[0055] Then, when the first rotating shaft 305 moves upward, the first rotating shaft 305 will squeeze the first spring 328 through the push plate 325, so that the first spring 328 pushes the second gear 326 upward through the extension frame 327, so that the second gear 326 can always mesh with the first gear 322, keeping the second gear 326 stable. Then, the fixing plate 321 is used to limit the position of the second gear 326, preventing the second gear 326 from moving due to the push of the first spring 328, so that the second gear 326 always stays in one position.

[0056] Then, when the first rotating shaft 305 moves downward, the second positioning block 317 will separate from the second positioning groove 319, and the third positioning block 330 will re-engage into the third positioning groove 329, allowing the first rotating shaft 305 to reconnect with the second gear 326, so that the first rotating shaft 305 can control the worm 337 and worm wheel 336 to rotate through the second gear 326.

[0057] like Figure 12 As shown, a second pusher 332 is movably installed through the outer side of the shaft of the second rotating shaft 320. The upper surface of the second pusher 332 is in contact with the lower surface of the push plate 325. A second spring 334 is installed at the lower end of the second pusher 332. The second spring 334 is sleeved and installed on the outer side of the shaft of the second rotating shaft 320. The side of the second pusher 332 away from the push plate 325 is movably installed inside the guide frame 331. The guide frame 331 is fixedly installed inside the groove 324. A fourth positioning block 333 is fixedly installed at both ends of the upper surface of the second pusher 332. A fourth positioning groove 335 is provided on the lower surface of the first gear 322. The fourth positioning block 333 and the fourth positioning groove 335 are engaged and connected.

[0058] When the first rotating shaft 305 moves upward, the second spring 334 pushes the second push frame 332, causing the second push frame 332 to drive the fourth positioning block 333 to engage with the inside of the fourth positioning groove 335, thereby positioning the positions of the first gear 322 and the second gear 326. This prevents the upper robotic arm 1 from shifting due to its own weight pressing and rotating the third rotating shaft 338 after the first rotating shaft 305 and the second gear 326 separate, thus improving the stability of the upper robotic arm 1.

[0059] Then the guide frame 331 is used to limit the movement direction of the second push frame 332, so as to prevent the fourth positioning block 333 from being unable to accurately engage with the inside of the fourth positioning groove 335 due to the offset of the second push frame 332.

[0060] Then, when the first rotating shaft 305 moves down, the push plate 325 will push the second push frame 332 down again, causing the second push frame 332 to separate the fourth positioning block 333 from the fourth positioning groove 335, waiting for the next positioning operation of the first gear 322.

[0061] The working principle of a fully free-degree-of-freedom motor-driven joint:

[0062] In use, when it is necessary to control the upper robotic arm 1 to rotate around the third rotating shaft 338, the electric push rod 303 controls the first rotating shaft 305 to remain stationary through the connecting plate 309 and the first push frame 308, so that the motor 302 drives the first rotating shaft 305 to rotate. Then the first rotating shaft 305 can drive the worm gear 337 to rotate through the first gear 322 and the second gear 326. Then the worm gear 337 can control the upper robotic arm 1 to rotate around the third rotating shaft 338 through the worm wheel 336.

[0063] Then, when it is necessary to control the upper robotic arm 1 to rotate around the first rotating shaft 305, the first push frame 308 will drive the connecting frame 314 and the first positioning block 316 to move upward, so that the first positioning block 316 is separated from the first positioning groove 315. At the same time, the first rotating shaft 305 will drive the second positioning block 317 to engage inside the second positioning groove 319, so that the first rotating shaft 305 is connected to the movable block 323. Then, the upper end of the first rotating shaft 305 will drive the third positioning block 330 to separate from the third positioning groove 329, so that when the first rotating shaft 305 rotates, it can only drive the movable block 323 and the upper robotic arm 1 to rotate 360° around the first rotating shaft 305.

[0064] Obviously, the above embodiments of the present invention are merely examples for clearly illustrating the present invention, and are not intended to limit the implementation of the present invention. For those skilled in the art, other variations or modifications can be made based on the above description. It is impossible to exhaustively list all the implementation methods here. All obvious variations or modifications derived from the technical solutions of the present invention are still within the protection scope of the present invention.

Claims

1. A fully free-degree-of-freedom motor-driven joint, comprising an upper robotic arm (1) and a lower robotic arm (2), characterized in that: The upper robotic arm (1) and the lower robotic arm (2) are connected to each other through a drive mechanism (3), which is used to control the upper robotic arm (1) to adjust its angle. The drive mechanism (3) includes a movable block (323), which is movably installed inside the lower end of the upper robotic arm (1). The lower end of the movable block (323) is connected to the lower robotic arm (2). A worm gear (336) is movably installed inside the upper end of the movable block (323). Both ends of the worm gear (336) movably penetrate the interior of the movable block (323) and are connected to the upper robotic arm (1). A worm (337) is movably installed inside the rear end of the movable block (323). The worm (337) is meshed with the worm gear (336). The upper part of the lower robotic arm (2) is movably installed with a first rotating shaft (305). The lower end of the first rotating shaft (305) is connected to the output end of the motor (302). The motor (302) is installed inside the lower robotic arm (2). The upper end of the first rotating shaft (305) is movably installed inside the movable block (323). The first rotating shaft (305) is connected to the worm gear (337). The lower robotic arm (2) has an upper internal movable slot (301). The motor (302) is installed at the lower internal end of the movable slot (301). The first rotating shaft (305) is located inside the movable slot (301) and a connecting plate (309) is fixedly installed on the outside of the rod body. The connecting plate (309) is fitted with a first pusher (308). The two ends of the first pusher (308) are respectively connected to the output ends of the electric push rod (303). The electric push rod (303) is installed at the lower internal end of the movable slot (301). A rotating disk (313) is fixedly installed on the lower surface of the movable block (323). The lower end of the rotating disk (313) is movably installed through the upper internal end of the lower robotic arm (2). The rotating disk (313) is connected to the movable slot (301). The rod body of the first rotating shaft (305) is movably installed through the inside of the rotating disk (313). The upper surface of the rotating disk (313) is provided with a first positioning groove (315). The two ends of the upper surface of the movable groove (301) are respectively movably installed with connecting frames (314). The lower ends of the connecting frames (314) are respectively fixedly connected to the first push frame (308). The upper ends of the connecting frames (314) are respectively fixedly installed with first positioning blocks (316). The first positioning blocks (316) are respectively engaged and installed inside the first positioning groove (315). The movable block (323) has a groove (324) inside, and a through hole (318) is provided through the lower surface of the groove (324). The upper end of the first rotating shaft (305) is movably installed inside the through hole (318). The lower end of the through hole (318) is provided with a second positioning groove (319). The first rotating shaft (305) is located on the outside of the rod body inside the rotating disk (313) and a second positioning block (317) is fixedly installed. The second positioning block (317) and the second positioning groove (319) are engaged and connected.

2. The fully free-degree-of-freedom motor-driven joint according to claim 1, characterized in that: A rotating rod (304) is fixedly installed at the output end of the motor (302). A limiting block (307) is fixedly installed at the upper end of the rotating rod (304). A limiting groove (306) is provided at the lower end of the first rotating shaft (305). The limiting block (307) is engaged and installed inside the limiting groove (306).

3. A fully free-degree-of-freedom motor-driven joint according to claim 1, characterized in that: A sealing block (310) is fixedly installed on the lower surface of the movable block (323), and a sealing groove (311) is provided on the upper surface of the lower robotic arm (2). The sealing blocks (310) are respectively engaged and installed inside the sealing groove (311). Several sealing rings (312) are installed at the lower end of the inside of the sealing groove (311), and the sealing rings (312) and the sealing blocks (310) are in contact with each other.

4. A fully free-degree-of-freedom motor-driven joint according to claim 1, characterized in that: A third rotating shaft (338) is movably installed through the upper end of the groove (324). The two ends of the third rotating shaft (338) are fixedly connected to the upper robotic arm (1). A worm gear (336) is installed on the outside of the rod body inside the groove (324). A second rotating shaft (320) is movably installed at the rear end of the groove (324). A worm (337) is fixedly installed at the upper end of the second rotating shaft (320). The worm (337) is meshed with the worm gear (336).

5. A fully free-degree-of-freedom motor-driven joint according to claim 4, characterized in that: A fixing plate (321) is fixedly installed on the outer side of the shaft of the second rotating shaft (320). A first gear (322) is fixedly installed on the lower end of the fixing plate (321). A second gear (326) is movably sleeved on the outer side of the shaft of the first rotating shaft (305) inside the groove (324). The second gear (326) is meshed with the first gear (322). The upper surface of the second gear (326) is in contact with the lower surface of the fixing plate (321).

6. A fully free-degree-of-freedom motor-driven joint according to claim 5, characterized in that: An extension frame (327) is fixedly installed at the lower end of the second gear (326), and the extension frame (327) is movably sleeved on the outside of the rod body of the first rotating shaft (305). A push plate (325) is fixedly installed at the lower end of the rod body of the first rotating shaft (305) located inside the groove (324). A first spring (328) is provided between the push plate (325) and the extension frame (327). The first spring (328) is sleeved on the outside of the rod body of the first rotating shaft (305). The upper surface of the second gear (326) is provided with a third positioning groove (329), and a third positioning block (330) is fixedly installed on the upper end of the shaft of the first rotating shaft (305). The third positioning block (330) and the third positioning groove (329) are engaged and connected.

7. A fully free-degree-of-freedom motor-driven joint according to claim 6, characterized in that: A second pusher (332) is movably installed through the outer side of the shaft of the second rotating shaft (320). The upper surface of the second pusher (332) is in contact with the lower surface of the push plate (325). A second spring (334) is installed at the lower end of the second pusher (332). The second spring (334) is sleeved and installed on the outer side of the shaft of the second rotating shaft (320). The side of the second pusher (332) away from the push plate (325) is movably installed inside the guide frame (331). The guide frame (331) is fixedly installed on one side inside the groove (324). The upper surface of the second push frame (332) is fixedly installed with a fourth positioning block (333) at both ends, and the lower surface of the first gear (322) is provided with a fourth positioning groove (335). The fourth positioning block (333) and the fourth positioning groove (335) are engaged and connected.

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