Connecting arm and robot arm

Abstract

The application discloses a connecting arm and a mechanical arm, wherein the connecting arm comprises an arm shell and a fan; the arm shell comprises a main body section and two mounting sections respectively arranged at two ends of the main body section; the mounting sections are provided with mounting spaces for mounting joint motors; the main body section is provided with a communication cavity; the mounting spaces of the two mounting sections are communicated through the communication cavity; one mounting section is provided with an air inlet; and the other mounting section is provided with an air outlet; the fan is arranged in the communication cavity and used for discharging air sucked from the air inlet from the air outlet. According to the technical scheme, the size of the mounting space of the joint motor is effectively reduced, the volume of the joint is reduced, and the overall size of the mechanical arm is reduced.

Description

Technical Field

[0001] This invention relates to the field of robotic arm technology, and in particular to a connecting arm and a robotic arm. Background Technology

[0002] Currently, robotic arms are widely used in various fields such as industrial manufacturing, medical treatment, intelligent services, and the military. Robotic arms typically consist of multiple joints to achieve multiple degrees of freedom of movement. Some adjacent joints are connected by connecting arms to achieve the required working range. During the operation of the robotic arm, the joint motors at both ends of the connecting arms generate significant heat, requiring cooling to ensure stable operation. Existing cooling solutions typically involve installing cooling fans at the rear of each joint motor. This approach requires considerable installation space for the joint motors, increasing the joint volume and resulting in a larger overall size of the robotic arm. Summary of the Invention

[0003] The present invention provides a connecting arm and a robotic arm, which aims to reduce the joint volume at both ends of the connecting arm, thereby reducing the overall size of the robotic arm.

[0004] To achieve the above objectives, the present invention proposes a connecting arm, applied to a robotic arm, comprising:

[0005] The arm housing includes a main body section and two mounting sections respectively located at both ends of the main body section. Each mounting section has a mounting space for mounting a joint motor. The main body section has a connecting cavity, and the mounting spaces of the two mounting sections are connected through the connecting cavity. One mounting section has an air inlet, and the other mounting section has an air outlet.

[0006] A fan, located in the communicating cavity, is used to expel air drawn in from the air inlet through the communicating cavity from the air outlet.

[0007] In some embodiments, a partition is provided on the cavity wall of the communicating cavity, the partition separating the air inlet side and the air outlet side of the fan.

[0008] In some embodiments, the fan is located at one end of the communicating cavity near the air outlet.

[0009] In some embodiments, the communicating cavity is provided with at least one first mounting position for mounting the circuit board assembly of the joint motor.

[0010] In some embodiments, the first mounting position is located on the air inlet side of the fan.

[0011] In some embodiments, at least one of the mounting segments is bent relative to the main body segment.

[0012] In some embodiments, both mounting segments are bent relative to the main body segment, and both mounting segments are bent toward the same side of the main body segment.

[0013] In some embodiments, the connecting arm further includes a first joint motor and a second joint motor. The first joint motor is installed in the mounting space of the mounting section having the air inlet, and the output end of the first joint motor is away from the main body section. The motor body of the second joint motor is installed in the mounting space of the mounting section having the air outlet, and the output end of the motor body of the second joint motor is away from the main body section. The circuit board assembly of the second joint motor is installed in the communicating cavity.

[0014] In some embodiments, the first joint motor is a motor with a speed reducer, and the second joint motor is a direct drive motor.

[0015] In some embodiments, the connecting arm further includes two joint motors;

[0016] The two joint motors are respectively installed in the installation spaces of the two installation sections, and the output end of the joint motors is far away from the main body section;

[0017] Alternatively, the motor bodies of the two joint motors are respectively installed in the installation spaces of the two installation sections, the circuit board assemblies of the two joint motors are installed in the communicating cavity, and the output end of the motor body of the joint motor is far away from the main body section.

[0018] The present invention also proposes a robotic arm, comprising a base joint module, an end joint module and the aforementioned connecting arm, wherein the base joint module is connected to the end joint module via the connecting arm.

[0019] The technical solution of the connecting arm of the present invention involves setting mounting sections with installation spaces at both ends of the main body of the arm housing for mounting joint motors. One mounting section has an air inlet, and the other has an air outlet. A connecting cavity is formed in the main body connecting the mounting spaces of the two mounting sections, and a fan is installed in the connecting cavity. This creates an airflow cooling channel connecting the air inlet, the mounting space of the first mounting section, the connecting cavity, the mounting space of the second mounting section, and the air outlet to the outside of the arm housing. When the connecting arm is used on the robotic arm, the heat generated by the joint motors at both ends of the connecting arm is exhausted through the air outlet by the fan in the connecting cavity, effectively meeting the heat dissipation requirements of the joint motors at both ends of the connecting arm. Furthermore, since the joint motors at both ends of the connecting arm are cooled by the fan located in the connecting cavity, there is no need to install additional cooling fans at the rear ends of the joint motors at both ends of the connecting arm, effectively reducing the size of the mounting space for the joint motors, thereby reducing the volume of the joints and the overall size of the robotic arm. Attached Figure Description

[0020] Figure 1 This is a schematic diagram of the connecting arm in one embodiment of the present invention;

[0021] Figure 2 for Figure 1 The connecting arm shown is a cross-sectional view in the CC direction;

[0022] Figure 3 for Figure 1 A partial structural diagram of the arm shell of the connecting arm shown.

[0023] Figure 4 This is a schematic diagram of the connecting arm in another embodiment of the present invention;

[0024] Figure 5 for Figure 4 A partially exploded view of the connecting arm shown.

[0025] Figure 6 This is a schematic diagram of the structure of a robotic arm according to one embodiment of the present invention. Detailed Implementation

[0026] The technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only a part of the embodiments of the present invention, and not all of the 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.

[0027] It should be noted that all directional indications (such as up, down, left, right, front, back, etc.) in the embodiments of the present invention are only used to explain the relative positional relationship and movement of each component in a certain specific posture (as shown in the figure). If the specific posture changes, the directional indication will also change accordingly.

[0028] It should also be noted that when a component is described as "fixed to" or "set on" another component, it can be directly on the other component or there may be an intervening component present. When a component is described as "connected to" another component, it can be directly connected to the other component or there may be an intervening component present.

[0029] Furthermore, the use of terms such as "first" and "second" in this invention is for descriptive purposes only and should not be construed as indicating or implying their relative importance or implicitly specifying the number of technical features indicated. Therefore, a feature defined with "first" or "second" may explicitly or implicitly include at least one of that feature. Additionally, the technical solutions of the various embodiments can be combined with each other, but only on the basis of being achievable by those skilled in the art. When the combination of technical solutions is contradictory or impossible to implement, such a combination of technical solutions should be considered non-existent and not within the scope of protection claimed by this invention.

[0030] This invention proposes a connecting arm for use in a robotic arm, which may include a base joint module and an end joint module, with the base joint module connected to the end joint module via the connecting arm.

[0031] Reference Figure 1 and Figure 2 In this embodiment, the connecting arm 100 includes an arm housing 10 and a fan 20. The arm housing 10 includes a main body section 11 and two mounting sections 12 respectively located at both ends of the main body section 11. The mounting sections 12 are provided with mounting spaces S for mounting joint motors. The main body section 11 has a connecting cavity Q. The mounting spaces S of the two mounting sections 12 are connected through the connecting cavity Q. One of the mounting sections 12 (denoted as the first mounting section) is provided with an air inlet A, and the other mounting section 12 (denoted as the second mounting section) is provided with an air outlet B. The fan 20 is located in the connecting cavity Q and is used to discharge air drawn in from the air inlet A through the connecting cavity Q and discharged from the air outlet B (e.g., air drawn in from the air inlet A is discharged from the air outlet B through the connecting cavity Q). Figure 2 The airflow direction indicated by the dashed arrows is as follows: the air inlet A, the mounting space S of the first mounting section, the connecting cavity Q, the mounting space S of the second mounting section, and the air outlet B form an airflow cooling channel communicating with the outside of the arm housing 10. The air inlet A is located on the air inlet side of the fan 20, and the air outlet B is located on the air outlet side of the fan 20. The end of the mounting section 12 furthest from the main body section 11 typically has an opening, allowing the joint motors mounted in the mounting space S to expose their output ends for connection with other joints of the robotic arm.

[0032] When the connecting arm 100 is used on a robotic arm, since joint motors are installed in both mounting spaces S of the arm housing 10, the motor bodies and circuit board assemblies of the two joint motors will heat up when the robotic arm is running. This will generate a lot of heat in the connecting cavity Q of the arm housing 10 (especially when the joint motors are direct drive motors, the heat will be even greater). If the hot air in the connecting cavity Q is only dissipated naturally by convection with the outside air through the air inlet A and the air outlet B, the hot air in the connecting cavity Q will be discharged very slowly. The heat dissipation efficiency will be much less than the heat generation efficiency of the two joint motors. This will cause the connecting cavity Q to remain at a high temperature, shorten the service life of the joint motors, and make the arm housing 10 very hot to the touch, posing a safety hazard of burning the user. To address this, a fan 20 is added inside the connecting cavity Q in this embodiment. When the robotic arm is running, the fan 20 starts working, quickly blowing the hot air inside the connecting cavity Q out from the air outlet B to the outside of the arm housing 10, and continuously drawing in low-temperature air from the outside into the connecting cavity Q through the air inlet A. After the low-temperature air is drawn into the connecting cavity Q, it exchanges heat with the motor bodies and circuit board assemblies of the two joint motors before being blown out from the air outlet B. In this way, a continuous and rapid air circulation heat exchange system is formed inside and outside the arm housing 10, keeping the connecting cavity Q at a low temperature. As a result, the joint motors always operate at a low temperature, effectively extending the service life of the joint motors. The temperature of the arm housing 10 is also lower, eliminating the safety hazard of scalding the user.

[0033] When the connecting arm 100 of this embodiment is applied in a robotic arm, joint motors can be installed in the two mounting sections 12 of the connecting arm 100 respectively. The output ends of the joint motors in the two mounting sections 12 are connected to other joint parts of the robotic arm. For example, the output end of the joint motor in the first mounting section is connected to the base joint module, and the output end of the joint motor in the second mounting section is connected to the end joint module. During the operation of the robotic arm, the fan 20 in the connecting cavity Q works, so that the air inlet A, the connecting cavity Q and the air outlet B form an airflow heat dissipation channel communicating with the outside of the arm housing 10. Air outside the arm housing 10 is drawn in from the air inlet A, and air inside the arm housing 10 is discharged from the air outlet B. Thus, the heat generated by the joint motors in the two mounting sections 12 is continuously discharged from the air outlet B to the outside of the arm housing 10 under the action of the fan 20, effectively achieving heat dissipation of the joint motors at both ends of the connecting arm 100.

[0034] In this embodiment, the connecting arm 100 has mounting sections 12 with mounting spaces S at both ends of the main body section 11 of the arm housing 10, respectively, for mounting joint motors. One mounting section 12 has an air inlet A, and the other mounting section 12 has an air outlet B. A connecting cavity Q is provided in the main body section 11, connecting the mounting spaces S of the two mounting sections 12, and a fan 20 is installed in the connecting cavity Q. This forms an airflow cooling channel that communicates with the outside of the arm housing 10, consisting of the air inlet A, the mounting space S of the first mounting section, the connecting cavity Q, the mounting space S of the second mounting section, and the air outlet B. When the connecting arm 100 is used on the robotic arm, the heat generated by the joint motors at both ends of the connecting arm 100 is discharged from the air outlet B under the action of the fan 20 in the connecting cavity Q, effectively meeting the heat dissipation requirements of the joint motors at both ends of the connecting arm 100. Furthermore, since the joint motors at both ends of the connecting arm 100 are cooled by the fan 20 located in the connecting cavity Q, there is no need to install cooling fans at the rear end of the joint motors at both ends of the connecting arm 100, which effectively reduces the size of the installation space S of the joint motors, thereby reducing the volume of the joints and the overall size of the robotic arm.

[0035] Reference Figure 2 and Figure 3 In some embodiments, a partition 111 is provided on the cavity wall of the communicating cavity Q, separating the air inlet side and the air outlet side of the fan 20. By separating the air inlet side and the air outlet side of the fan 20 by the partition 111, the airflow on the air outlet side of the fan 20 is prevented from flowing back to the air inlet side of the fan 20, ensuring orderly airflow in the airflow heat dissipation channel, and allowing heat to be more fully discharged from the air outlet B to the outside of the arm housing 10 with the airflow, thus ensuring the heat dissipation effect.

[0036] Reference Figure 2 In some embodiments, the fan 20 can be located at the end of the connecting cavity Q near the air outlet B, making the path between the air outlet side of the fan 20 and the air outlet B shorter, increasing the space inside the arm housing 10 on the air inlet side of the fan 20, and decreasing the space inside the arm housing 10 on the air outlet side of the fan 20. This reduces the airflow on the air outlet side of the fan 20 from circling and lingering inside the arm housing 10, allowing the hot air on the air outlet side of the fan 20 to be discharged outside the arm housing 10 more quickly and fully, thus improving the heat dissipation effect.

[0037] Reference Figure 2In some embodiments, the communicating cavity Q is provided with at least one first mounting position 112, which is used to mount the circuit board assembly of the joint motor. The circuit board assembly may be a driver assembly of the joint motor, including a driver board and a control board. In this embodiment, by providing the first mounting position 112 in the communicating cavity Q, the circuit board assembly of the joint motor can be separated from the motor body. That is, the circuit board assembly originally mounted at the rear end of the motor body can be moved to the first mounting position 112 for installation, and the circuit board assembly can be electrically connected to the motor body via a cable. By mounting the circuit board assembly of the joint motor at the first mounting position 112, the airflow within the arm housing 10 changes from initially focusing heat exchange with the heat-generating components of the joint motor only at the mounting space S position to now exchanging heat with the heat-generating components of the joint motor at both the mounting space S position and the first mounting position 112 position. This significantly improves the heat exchange efficiency between the airflow and the heat-generating components of the joint motor, thereby greatly enhancing the heat dissipation effect on the joint motor.

[0038] In some embodiments, the first mounting position 112 is located on the air inlet side of the fan 20. This arrangement allows, firstly, the fan 20 to be positioned closer to the air outlet B within the communicating cavity Q, thus improving heat dissipation efficiency; secondly, it reduces the number of obstructing components on the air outlet side of the fan 20, decreasing air resistance and allowing hot air to be expelled from the air outlet side of the arm housing 10 more quickly, further improving heat dissipation efficiency; and thirdly, since the airflow on the air inlet side is drawn towards the air inlet side of the fan 20, it can better contact and exchange heat with the circuit board assembly mounted on the first mounting part, resulting in a better cooling effect on the circuit board assembly.

[0039] Of course, in some other embodiments, the first mounting position 112 can also be set on the air outlet side of the fan 20. Alternatively, when multiple first mounting positions 112 are provided in the communicating cavity Q, some of the first mounting positions 112 are set on the air inlet side of the fan 20, and the other part of the first mounting positions 112 are set on the air outlet side of the fan 20.

[0040] In this configuration, the first mounting position 112 and the fan 20 can be arranged sequentially along the connecting cavity Q. In some embodiments, the first mounting position 112 and the fan 20 can also be stacked. For example, if the fan 20 is a centrifugal fan, with the inlet side of the centrifugal fan facing the cavity wall of the connecting cavity Q and the outlet side facing the mounting space S of the second mounting section, the first mounting positions 112 can be stacked on the inlet side of the centrifugal fan. During the operation of the centrifugal fan, the airflow first passes through the circuit board assembly mounted on the first mounting position 112 before entering the inlet side of the centrifugal fan. This stacked arrangement of the first mounting position 112 and the fan 20 is suitable for connecting arms 100 with shorter main pipe sections. Of course, the positional relationship between the first mounting position 112 and the fan 20 can also be configured in other ways.

[0041] In some embodiments, the arm housing 10 may be formed by splicing together two or more housing portions, for example... Figure 5 As shown, the arm housing 10 is composed of two housing parts spliced ​​together. The two housing parts are fastened by a snap-fit ​​structure or by fasteners such as screws. The first mounting position 112 and the fan 20 can be fixed on one of the housing parts respectively. In this way, the fan 20 and the circuit board assembly can be installed or maintained by opening the arm housing 10.

[0042] In some embodiments, the two mounting sections 12 of the arm housing 10 may extend along a straight line with the main body section 11, that is, the connecting arm 100 as a whole is a straight arm.

[0043] In some embodiments, at least one mounting segment 12 of the arm housing 10 is bent relative to the main body segment 11, that is, at least one end of the connecting arm 100 is bent, so as to accommodate the need for more degrees of freedom of movement in more directions of the robotic arm.

[0044] Reference Figures 1 to 5 In some embodiments, both mounting segments 12 are bent relative to the main body segment 11, and both mounting segments 12 bend towards the same side of the main body segment 11. Since the two mounting segments 12 bend towards the same side of the main body segment 11, the joint motors mounted on the two mounting segments 12 are located on the same side of the main body segment 11. This reduces the axial dimension of the robotic arm on the mounting segments 12, making the robotic arm more compact and occupying less space. The bending angle between the two mounting segments 12 and the main body is preferably a right angle, but other angles are also possible.

[0045] In some embodiments, where both mounting sections 12 are bent relative to the main body section 11, it is preferable that the air inlet A is located on the side of the first mounting section away from the second mounting section, and the air outlet B is located on the side of the second mounting section away from the first mounting section. This allows the airflow to fully pass through the end of the mounting space S that connects to the connecting cavity Q, improving the heat exchange between the airflow and the joint motor. Of course, in other embodiments, the air inlet A and the air outlet B can also be located at other positions on the mounting section 12.

[0046] Reference Figure 4 and Figure 5In some embodiments, the connecting arm 100 further includes a first joint motor 40 and a second joint motor 50. The first joint motor 40 is installed in the mounting space S of the mounting section 12 (i.e., the aforementioned first mounting section) which has an air inlet A, and the output end of the first joint motor 40 is far away from the main body section 11. The motor body 51 of the second joint motor 50 is installed in the mounting space S of the mounting section 12 (i.e., the aforementioned second mounting section) which has an air outlet B, and the output end of the motor body 51 of the second joint motor 50 is far away from the main body section 11. The circuit board assembly 52 of the second joint motor 50 is installed in the communicating cavity Q.

[0047] In this embodiment, the circuit board assembly 52 of the second joint motor 50 is installed in the communicating cavity Q (such as the first mounting position 112 in the communicating cavity Q), and only the motor body 51 of the second joint motor 50 is installed in the mounting space S of the second mounting section. Thus, the axial dimension of the motor body of the first joint motor 40 is larger than the axial dimension of the motor body 51 of the second joint motor 50 by the axial dimension occupied by the circuit board assembly. That is, the axial dimensions of the two ends of the connecting arm 100 are different. Therefore, when the connecting arm 100 is used in the robotic arm, if the output end of the first joint motor 40 is connected to a component without a motor, and the output end of the second joint motor 50 is connected to a component with a motor, the overall axial dimension of the robotic arm at both ends of the connecting arm 100 will not differ too much, making the overall width dimension of the robotic arm more uniform, thereby ensuring the compactness and aesthetics of the robotic arm.

[0048] In some embodiments, the first joint motor 40 is a motor with a speed reducer, and the second joint motor 50 is a direct drive motor.

[0049] When the connecting arm is used on the robotic arm, since the first joint motor 40 and the second joint motor 50 are located at the two ends of the arm housing 10 respectively, one of the first joint motor 40 and the second joint motor 50 (e.g., the first joint motor 40) will be closer to the base of the robotic arm (i.e., the first joint motor 40 has to drive a larger load weight), and the other (e.g., the second joint motor 50) will be closer to the end of the robotic arm (i.e., the second joint motor 50 has to drive a smaller load weight). In other words, the torque of the first joint motor 40 is relatively larger, and the torque of the second joint motor 50 is relatively smaller. In some embodiments, the connecting arm is typically used in robotic arms for teaching purposes. These robotic arms are primarily used for instruction and have relatively low precision requirements. Therefore, considering cost, the first joint motor 40 can be a motor with a reducer (i.e., a combination of a hollow motor with low torque and a reducer). The reducer amplifies the output torque of the hollow motor to achieve the higher torque required by the first joint motor 40. Compared to directly using a direct-drive motor to achieve the required torque (i.e., using a high-torque direct-drive motor), using a combination of a hollow motor and a reducer for the first joint motor 40 results in lower cost and a smaller size. The second joint motor 50 has relatively lower torque requirements, so a direct-drive motor can be used to ensure the precision of the end effector. At the same time, the cost of a low-torque direct-drive motor is not too high, ensuring that the overall precision of the robotic arm is not too low and guaranteeing accurate instruction.

[0050] Because direct-drive motors lack intermediate transmission components such as reducers, the axial dimension of the motor body of the first joint motor 40 is larger than the axial dimension of the motor body 51 of the second joint motor 50 by the axial dimension occupied by a reducer. Consequently, the axial dimension of the first joint motor 40 is larger than the axial dimension of the second joint motor 50 by the axial dimension occupied by a circuit board assembly and a reducer. Therefore, when the connecting arm 100 is used in the robotic arm, if the output end of the first joint motor 40 connects to a component without a motor, and the output end of the second joint motor 50 connects to a component with a motor, the overall axial dimensions of the robotic arm at both ends of the connecting arm 100 can be made approximately equal, resulting in a more uniform overall width and further improving the compactness and aesthetics of the robotic arm. For example, as... Figure 6 As shown, the output end of the second joint motor 50 can be connected to the end joint module. The component directly connected to the output end of the end joint module and the second joint motor 50 is a joint equipped with a motor. The output end of the first joint motor 40 can be connected to the base joint module. The component connected to the output end of the base joint module and the first joint motor 40 is the upper arm without a motor. This makes the overall width difference between the two ends of the connecting arm 100 of the robotic arm very small, resulting in better overall compactness and a more aesthetically pleasing robotic arm.

[0051] In some embodiments, the connecting arm 100 may further include two articulated motors, which are respectively mounted in the mounting spaces S of the two mounting sections 12, and the output ends of the articulated motors are away from the main body section 11 for connection with other articulated modules. That is, both articulated motors can be mounted as a whole (including the motor body and the circuit board assembly) in the mounting space S of the mounting section 12, and the circuit board assembly and the motor body are not mounted separately.

[0052] In some embodiments, the connecting arm 100 may further include two articulated motors. The motor bodies of the two articulated motors are respectively installed in the installation spaces S of the two mounting sections 12, and the circuit board assemblies of the two articulated motors are installed in the communicating cavity Q. The output ends of the motor bodies of the articulated motors are far from the main body section 11 for connection with other articulated modules. For example, the communicating cavity Q is provided with two first mounting positions 112, and the circuit board assemblies of the two articulated motors are respectively installed in the two first mounting positions 112, that is, the circuit board assemblies of the two articulated motors are installed separately from the motor bodies. By installing the motor bodies and circuit board assemblies of the two articulated motors separately in different positions, the heat-generating components of the two articulated motors exchange heat at different positions in the airflow heat dissipation channel, thereby greatly improving the heat exchange efficiency between the airflow and the heat-generating components of the articulated motors, and thus greatly improving the heat dissipation effect of the articulated motors.

[0053] Reference Figure 6 The present invention further proposes a robotic arm, which includes a base joint module, an end joint module and the aforementioned connecting arm 100. The base joint module is connected to the end joint module via the connecting arm 100. The specific structure of the connecting arm 100 is as described in the above embodiments. Since the present robotic arm adopts all the technical solutions of all the embodiments of the connecting arm 100, it has at least all the beneficial effects brought about by the technical solutions of the above embodiments, which will not be described in detail here.

[0054] In some embodiments, the base joint module may include a base 200, a first joint 300, a second joint 400, and a large arm 500 connected in sequence. The end of the large arm 500 away from the second joint 400 is connected to the output end of the first joint motor 40 of the connecting arm 100, and the end of the large arm 500 away from the second joint 400 is not equipped with a motor. The end joint module may include a fifth joint 600 and an actuation joint 700 connected to the fifth joint 600. The fifth joint 600 is connected to the output end of the second joint motor 50 of the connecting arm 100, and the fifth joint 600 is equipped with a motor. In this way, the overall width difference between the two ends of the connecting arm 100 can be very small, resulting in a more compact and aesthetically pleasing overall robotic arm.

[0055] The above description is only a part or preferred embodiment of the present invention. Neither the text nor the drawings should limit the scope of protection of the present invention. All equivalent structural transformations made using the content of the present invention specification and drawings under the overall concept of the present invention, or direct / indirect applications in other related technical fields, are included within the scope of protection of the present invention.

Claims

1. A connecting arm, used in a robotic arm, characterized in that, include: The arm housing includes a main body section and two mounting sections respectively located at both ends of the main body section. Each mounting section has a mounting space for mounting a joint motor. The main body section has a connecting cavity, and the mounting spaces of the two mounting sections are connected through the connecting cavity. One mounting section has an air inlet, and the other mounting section has an air outlet. The air inlet, the mounting space of one mounting section, the connecting cavity, the mounting space of the other mounting section, and the air outlet form an airflow heat dissipation channel that communicates with the outside of the arm housing. A fan, disposed in the communicating cavity, is used to expel air drawn in from the air inlet through the communicating cavity from the air outlet; The cavity wall of the communicating cavity is provided with a partition, which is located on the periphery of the fan and is assembled with the fan housing. The partition separates the air inlet side and the air outlet side of the fan.

2. The connecting arm according to claim 1, characterized in that, The fan is located at one end of the communicating cavity near the air outlet.

3. The connecting arm according to claim 1, characterized in that, The communicating cavity is provided with at least one first mounting position for mounting the circuit board assembly of the joint motor.

4. The connecting arm according to claim 3, characterized in that, The first mounting position is located on the air inlet side of the fan.

5. The connecting arm according to any one of claims 1 to 4, characterized in that, At least one of the mounting segments is bent relative to the main body segment.

6. The connecting arm according to claim 5, characterized in that, Both mounting segments are bent relative to the main body segment, and both mounting segments are bent toward the same side of the main body segment.

7. The connecting arm according to claim 6, characterized in that, The connecting arm also includes a first joint motor and a second joint motor. The first joint motor is installed in the mounting space of the mounting section with the air inlet, and the output end of the first joint motor is away from the main body section. The motor body of the second joint motor is installed in the mounting space of the mounting section with the air outlet, and the output end of the motor body of the second joint motor is away from the main body section. The circuit board assembly of the second joint motor is installed in the communicating cavity.

8. The connecting arm according to claim 7, characterized in that, The first joint motor is a motor with a speed reducer, and the second joint motor is a direct drive motor.

9. The connecting arm according to claim 6, characterized in that, The connecting arm also includes two joint motors; The two joint motors are respectively installed in the installation spaces of the two installation sections, and the output end of the joint motors is far away from the main body section; Alternatively, the motor bodies of the two joint motors are respectively installed in the installation spaces of the two installation sections, the circuit board assemblies of the two joint motors are installed in the communicating cavity, and the output end of the motor body of the joint motor is far away from the main body section.

10. A robotic arm, comprising a base joint module and an end effector module, characterized in that, It also includes the connecting arm as described in any one of claims 1 to 9, wherein the base joint module is connected to the end joint module via the connecting arm.

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