Joint assembly and multi-axis mechanical arm

Abstract

The invention relates to the field of robots, and particularly discloses a joint assembly and a multi-shaft mechanical arm. After the joint assembly is powered on, a driving mechanism drives a connecting shaft to rotate, the connecting shaft drives a speed reducing mechanism to rotate, and the speed reducing mechanism drives a main output shaft to rotate; when the adjacent mechanical arm sections are connected, part of the mechanical arm sections are connected to one mechanical arm section, the output end of the main output shaft is connected to the other mechanical arm section, and therefore the mechanical arm section connected with the output end of the main output shaft can be driven to rotate through rotation of the main output shaft, and relative rotation between the adjacent mechanical arm sections is achieved. Normal operation of the adjacent mechanical arm sections can be guaranteed through the joint assembly, the main output shaft and the connecting shaft form a sleeved connection relation, the driving mechanism and the speed reducing mechanism are contained in the joint assembly, the connecting shaft is sleeved with the driving mechanism, and the main output shaft is sleeved with the speed reducing mechanism. Therefore, the joint assembly is compact in structure and small in size, and is suitable for the mechanical arm which is compact in structure and small in size.

Description

Technical Field

[0001] The present invention relates to the technical field of robots, and in particular to a joint assembly and a multi-axis robot arm having the joint assembly. Background Art

[0002] Robots are important intelligent automation equipment, among which industrial robots are widely used in equipment manufacturing, automobile industry and other industries. A robotic arm is a type of robot. It has the characteristics of multiple inputs and multiple outputs, high nonlinearity, strong coupling, etc. It is a complex system. It is widely used in industrial assembly, safety and explosion-proof and other fields, and is valued for its operational flexibility. The robotic arm is one of the most widely used mechanical devices in the field of robots. It can receive instructions and accurately locate a point in three-dimensional (or two-dimensional) space to perform operations.

[0003] Existing robotic arms usually have multiple arm segments, and adjacent arm segments are connected by joint assemblies so that the connected arm segments can move relative to each other and ultimately achieve the desired functions. However, the existing joint assemblies are large in size and not compact in structure, and are not suitable for compact and small robotic arms. Summary of the invention

[0004] The present invention aims to provide a joint assembly with a compact structure and a small volume; in addition, the present invention also provides a multi-axis robot arm having the joint assembly.

[0005] In order to solve the above technical problems, the present invention provides the following technical solutions:

[0006] A joint assembly described in the present invention includes a main output shaft, a connecting shaft, a driving mechanism and a reduction mechanism. The main output shaft is an axially through-hollow structure. The connecting shaft is sleeved on the outside of the main output shaft. The reduction mechanism is sleeved on the outside of the main output shaft. The connecting shaft is connected to the input end of the reduction mechanism. The output end of the reduction mechanism is connected to the main output shaft. The driving mechanism is sleeved on the outside of the connecting shaft and is used to drive the connecting shaft to rotate, and then drive the main output shaft to rotate after being decelerated by the reduction mechanism.

[0007] The joint assembly described in the present invention, after being powered on, the driving mechanism drives the connecting shaft to rotate, the connecting shaft drives the speed reduction mechanism to rotate, and the speed reduction mechanism drives the main output shaft to rotate. Since the joint assembly is used to connect adjacent mechanical arm segments, when connecting adjacent mechanical arm segments, a part is connected to one of the mechanical arm segments, and the output end of the main output shaft is connected to another mechanical arm segment, so that the mechanical arm segment connected to the output end of the main output shaft can be driven to rotate by the rotation of the main output shaft, thereby realizing the relative rotation between adjacent mechanical arm segments. The above joint assembly can ensure the normal operation of adjacent mechanical arm segments, and the main output shaft and the connecting shaft form a sleeve connection relationship, and the driving mechanism and the speed reduction mechanism are accommodated in the joint assembly, and the driving mechanism is sleeved on the outside of the connecting shaft, and the speed reduction mechanism is sleeved on the outside of the main output shaft, so that the joint assembly can be made compact and small in size, and suitable for mechanical arms with compact structure and small size.

[0008] Furthermore, the joint assembly also includes a braking mechanism, which cooperates with the connecting shaft to stop the connecting shaft from rotating during braking, thereby stopping the main output shaft from rotating; the braking mechanism, driving mechanism and deceleration mechanism are arranged in sequence along the axial direction of the main output shaft toward the output end of the main output shaft.

[0009] Furthermore, the brake mechanism includes a brake stator and a brake pad, the brake stator is sleeved on the outside of the connecting shaft and does not rotate with the connecting shaft, and the brake pad is sleeved on the outside of the connecting shaft and can rotate with the connecting shaft; when the brake pad is separated from the brake stator, the driving mechanism drives the connecting shaft to rotate, and when the brake pad contacts the brake stator, the connecting shaft is prevented from rotating.

[0010] Furthermore, one of the brake stator and the brake pad is provided with an electromagnet, and the other is provided with a magnet, and the magnetism of the electromagnet when powered on is the same as that of the magnet; when the electromagnet is powered on, the brake pad is separated from the brake stator, and the driving mechanism drives the connecting shaft to rotate; when the electromagnet is powered off, the brake pad contacts the brake stator to stop the connecting shaft from rotating;

[0011] Alternatively, one of the brake stator and the brake pad is provided with an electromagnet, and the other is provided with a magnet; when the electromagnet is energized, in a first current direction, the magnetism of the electromagnet is the same as that of the magnet, the brake pad is separated from the brake stator, and the driving mechanism drives the connecting shaft to rotate; in a second current direction, the magnetism of the electromagnet is opposite to that of the magnet, the brake pad contacts the brake stator to stop the connecting shaft from rotating;

[0012] Alternatively, the brake stator and brake pad are arranged in sequence along the axial direction of the main output shaft toward the output end of the main output shaft.

[0013] Furthermore, the joint assembly further comprises a heat dissipation mechanism, which is sleeved on the outside of the connecting shaft and can rotate with the connecting shaft, and the heat dissipation mechanism, the driving mechanism and the speed reduction mechanism are sequentially arranged along the axial direction of the main output shaft toward the output end of the main output shaft;

[0014] The heat dissipation mechanism includes a heat dissipation mounting seat and a plurality of fan blades. The heat dissipation mounting seat is sleeved on the outer side of the connecting shaft and can rotate with the connecting shaft. An annular connecting plate is arranged on the heat dissipation mounting seat, and the plurality of fan blades are arranged at intervals along the circumference of the annular connecting plate.

[0015] Further, the joint assembly also includes an encoder assembly, which includes an encoder PCB board and at least one encoding disk, the encoder PCB board is sleeved on the periphery of the connecting shaft and does not rotate with the connecting shaft, the encoding disk is sleeved on the connecting shaft and / or the main output shaft and rotates therewith, and the encoding disk is connected to the encoder PCB board by electrical signals;

[0016] The encoder assembly, the driving mechanism and the speed reduction mechanism are arranged in sequence along the axial direction of the main output shaft toward the output end of the main output shaft.

[0017] Furthermore, there are two encoding disks, both of which are connected to the encoder PCB board via electrical signals, one of which is sleeved on the connecting shaft and rotates with the connecting shaft and is used to test the rotational speed of the connecting shaft, and the other is sleeved on the main output shaft and rotates with the main output shaft and is used to test the rotational speed of the main output shaft; the two encoding disks are arranged on both sides of the encoder PCB board.

[0018] Furthermore, an end cover is provided at one end of the main output shaft away from the speed reduction mechanism, the end cover is sleeved on the main output shaft, and a first bearing is provided between the end cover and the main output shaft.

[0019] Furthermore, a sealed bearing is provided between the connecting shaft and the main output shaft;

[0020] Alternatively, the reduction mechanism includes a wave generator, a flexible wheel and a rigid wheel, the wave generator is the input end of the reduction mechanism, the wave generator is sleeved on the periphery of the main output shaft and connected to the connecting shaft, the flexible wheel is the output end of the reduction mechanism, the flexible wheel is sleeved on the wave generator, and the flexible wheel and the wave generator can rotate relative to each other, the flexible wheel is also connected to the main output shaft, the rigid wheel is sleeved on the flexible wheel, and the flexible wheel can rotate relative to the rigid wheel.

[0021] A multi-axis mechanical arm described in the present invention comprises a lifting arm, a first swing arm, a second swing arm, a third swing arm and a rotating arm, the lifting arm is lifted and lowered along a first direction, the first swing arm, the second swing arm and the third swing arm are stacked along the first direction, the rotating shafts of the first swing arm, the second swing arm and the third swing arm axially extend along the first direction, the first swing arm, the second swing arm, the third swing arm and the rotating arm are sequentially distributed from the head end to the tail end of the multi-axis mechanical arm, the second swing arm rotates relative to the first swing arm, the third swing arm rotates relative to the second swing arm, the rotating arm rotates relative to the third swing arm, and the rotating shaft of the rotating arm is not parallel to the rotating shafts of the first swing arm, the second swing arm and the third swing arm, the lifting arm is connected to one of the first swing arm and the rotating arm, or is connected between two of the first swing arm, the second swing arm, the third swing arm and the rotating arm;

[0022] The multi-axis mechanical arm further comprises a first swing arm joint, a second swing arm joint, and a third swing arm joint, wherein the rotating shafts of the first swing arm, the second swing arm, and the third swing arm are respectively located in the first swing arm joint, the second swing arm joint, and the third swing arm joint; the first swing arm is connected to the lifting arm through the first swing arm joint, the second swing arm is connected to the first swing arm through the second swing arm joint, the third swing arm is connected to the second swing arm through the third swing arm joint, and the rotating arm is directly connected to the third swing arm;

[0023] At least one of the first swing arm joint, the second swing arm joint, and the third swing arm joint adopts the above-mentioned joint assembly.

[0024] The multi-axis robot arm of the present invention, by providing the first swing arm, the second swing arm, and the third swing arm, allows the rotating arm to be more freely moved to a desired position without an operation blind spot, and the structure of the robot arm is more flexible and can work in a narrow space. In addition, since the multi-axis robot arm has the above-mentioned joint assembly, it has all the beneficial technical effects brought by the joint assembly, which will not be described one by one here.

[0025] Furthermore, the first end of the lifting arm is connected to the head end of the first swing arm, the head end of the second swing arm is connected to the tail end of the first swing arm through a second swing arm joint, the head end of the third swing arm is connected to the tail end of the second swing arm through a third swing arm joint, and the rotating arm is connected to the tail end of the third swing arm.

[0026] Furthermore, the lifting arm includes a lifting arm body, a storage seat and a lifting drive device. The second end of the lifting arm body is installed in the storage seat, and the lifting drive device is also installed in the storage seat. The lifting drive device is connected to the second end of the lifting arm body. A lifting through hole is opened on the top of the storage seat. The first end of the lifting arm body passes through the lifting through hole and is connected to the first swing arm. The lifting arm body is lifted and lowered relative to the lifting through hole of the storage seat under the drive of the lifting drive device.

[0027] Further, the lifting arm body is a hollow structure, and a through hole is opened at the bottom of the second end of the lifting arm body, the lifting drive device includes a lifting drive motor and a lifting transmission assembly, the lifting transmission assembly is transmission-connected between the lifting drive motor and the lifting arm body, the lifting drive motor is located directly below the second end of the lifting arm body, and when the first end of the lifting arm body is retracted into the storage seat, the lifting drive motor is inserted into the through hole at the bottom of the second end of the lifting arm body;

[0028] Alternatively, the lifting drive device includes a lifting drive motor and a lifting transmission assembly, the lifting transmission assembly is transmission-connected between the lifting drive motor and the lifting arm body, a lifting slider is fixed to the bottom of the lifting arm body, a lifting slide rail extending along the first direction is arranged in the storage seat, the lifting transmission assembly includes a driving wheel, a driven wheel, a synchronous belt and a screw rod, the lifting slider is threadedly matched with the screw rod and slidingly matched with the lifting slide rail, the driving wheel is connected to the output shaft of the lifting drive motor, the screw rod is connected to the driven wheel, the driving wheel and the driven wheel are transmission-matched by the synchronous belt, the lifting drive motor drives the screw rod to rotate through the above-mentioned driving wheel, driven wheel and synchronous belt, and further causes the lifting slider to move up and down relative to the screw rod.

[0029] Furthermore, the rotating arm includes a first rotating arm and a second rotating arm, the first rotating arm can be driven to rotate around its own rotating axis relative to the third swing arm, and the axial direction of the rotating axis of the first rotating arm is not parallel to the axial directions of the rotating axes of the first swing arm, the second swing arm, and the third swing arm, the second rotating arm is connected to the first rotating arm, and a rotating part is provided on the second rotating arm, and the rotating part can be driven to rotate around its own rotating axis relative to the first rotating arm, and the axial direction of the rotating axis of the rotating part is not parallel to the axial direction of the rotating axis of the first rotating arm.

[0030] Furthermore, the multi-axis robotic arm also includes a first rotating arm joint and a second rotating arm joint, the rotating axes of the first rotating arm and the second rotating arm are respectively located in the first rotating arm joint and the second rotating arm joint, the first rotating arm is connected to the third swing arm through the first rotating arm joint, the first rotating arm joint is arranged in the third swing arm and / or the first rotating arm, and is used to drive the first rotating arm to rotate relative to the third swing arm, the second rotating arm joint is arranged in the first rotating arm and / or the second rotating arm, and is connected to the rotating part of the second rotating arm, and is used to drive the rotating part to rotate relative to the first rotating arm; at least one of the first rotating arm joint and the second rotating arm joint adopts the above-mentioned joint assembly. BRIEF DESCRIPTION OF THE DRAWINGS

[0031] The above and other purposes, features and advantages of the present invention will become more clear by more specific description of the preferred embodiments of the present invention shown in the accompanying drawings. The same reference numerals indicate the same parts in all the accompanying drawings, and the accompanying drawings are not deliberately scaled to the actual size, and the focus is on illustrating the main purpose of the present invention.

[0032] Figure 1 It is a schematic structural diagram of one embodiment of the joint assembly in the present invention.

[0033] Figure 2 for Figure 1 Cross-sectional view of a joint assembly.

[0034] Figure 3 for Figure 1 Schematic diagram of the structure of the heat dissipation mechanism of the joint assembly.

[0035] Figure 4 and Figure 5 FIG. 1 is a schematic structural diagram of another embodiment of the joint assembly of the present invention (wherein, Figure 4 There is only one encoder disk in the Figure 5 There are two encoding disks in it).

[0036] Figure 5-1 for Figure 5 Exploded diagram.

[0037] Figure 6 It is a schematic structural diagram of another embodiment of the joint assembly in the present invention.

[0038] Figure 7 It is a schematic diagram of the structure in which a perforation is provided on a joint component.

[0039] Figure 8 and Fig. 9 Schematic diagram of the structure of a multi-axis robotic arm from different viewing angles according to the first embodiment of the present invention.

[0040] Fig.10for Figure 8 A top view of a multi-axis robotic arm.

[0041] Fig.11 and Fig.12 for Figure 8 Schematic diagram of the structure of the multi-axis robotic arm after removing some components.

[0042] Fig.13 for Fig.10 AA section view.

[0043] Fig.14 Schematic diagram of the structure of a multi-axis robotic arm according to the second embodiment of the present invention.

[0044] Fig.15 Schematic diagram of the structure of a multi-axis robotic arm according to embodiment 3 of the present invention.

[0045] Fig.16 Schematic diagram of the structure of a multi-axis robotic arm according to a fourth embodiment of the present invention.

[0046] Fig.17 for Fig.16 A partial structural cross-sectional view of a multi-axis robotic arm.

[0047] Fig.18 Schematic diagram of the structure of a multi-axis robotic arm according to Embodiment 5 of the present invention.

[0048] Fig.19 This is a schematic diagram of the structure of a multi-axis robotic arm according to embodiment 6 of the present invention. DETAILED DESCRIPTION

[0049] To facilitate understanding of the present invention, a more comprehensive description of the present invention will be given below with reference to the relevant drawings.

[0050] It should be noted that when an element is considered to be "connected" to another element, it may be directly connected to another element and integrated therewith, or there may be an intermediate element at the same time. The terms "installed", "one end", "the other end" and similar expressions used herein are for illustrative purposes only.

[0051] Unless otherwise defined, all technical and scientific terms used herein have the same meaning as those generally understood by those skilled in the art. The terms used in the specification herein are only for the purpose of describing specific embodiments and are not intended to limit the present invention. The term "and / or" used herein includes any and all combinations of one or more related listed items.

[0052] The present invention specifically provides an embodiment of a joint assembly, see Figure 1-4It includes a main output shaft 701, a connecting shaft 702, a driving mechanism 704 and a speed reduction mechanism 703. The main output shaft 701 is an axially through hollow structure, through which electric wires and air pipes 900 can pass. The output end of the main output shaft 701 is provided with a flange for connecting with the corresponding arm section body or for connecting with the load. The connecting shaft 702 is sleeved on the outside of the main output shaft 701, and the speed reduction mechanism 703 is sleeved on the outside of the main output shaft 701. The connecting shaft 702 is connected to the input end of the speed reduction mechanism 703, and the output end of the speed reduction mechanism 703 is connected to the main output shaft 701. The driving mechanism 704 is sleeved on the outside of the connecting shaft 702, and is used to drive the connecting shaft 702 to rotate, and then drive the main output shaft 701 to rotate after being decelerated by the speed reduction mechanism 703. Specifically, the driving mechanism 704 includes a motor rotor 7041 and a motor stator 7042. The motor rotor 7041 is sleeved on the connecting shaft 702, which can be understood as the motor rotor 7041 being sleeved on the outside of the connecting shaft 702, and the motor stator 7042 is sleeved on the motor rotor 7041, which can be understood as the motor stator 7042 being sleeved on the outside of the motor rotor 7041, for driving the motor rotor 7041 to rotate. When the joint assembly 70 connects two adjacent arm sections, the housings of the reduction mechanism 703 and the driving mechanism 704 can be fixed on the front arm section, and the output end of the main output shaft 701 is fixedly connected to the rear arm section. Since the driving mechanism 704 generally rotates at a faster speed, while the swing arm rotates at a slower speed, the power of the driving mechanism 704 is output to the connecting shaft 702, and is transmitted to the input end of the speed reduction mechanism 703 through the connecting shaft 702. After being decelerated by the speed reduction mechanism 703, the power is output to the main output shaft 701 through the output end of the speed reduction mechanism 703, and then transmitted to the arm section body through the main output shaft 701. The main output shaft 701 is configured as an axially through hollow structure, so that cables, air pipes and other lines can pass through the inner cavity of the main output shaft 701 to achieve electrical connection, etc., avoiding the external placement of cables, air pipes and the like of the robot arm, so that the internal structure of the robot arm is compact and the appearance is neat and beautiful. The joint assembly 70, through the main output shaft 701 and the connecting shaft 702 to form a sleeve connection relationship, can make the structure of the joint assembly 70 more compact.

[0053] In a preferred embodiment, see Figure 1-4 Guide bearings 7043 are also provided at both ends of the motor rotor 7041; by providing the guide bearings 7043, the rotation position of the motor rotor 7041 can be limited to ensure accurate transmission.

[0054] In a preferred embodiment, see Figure 1-4The joint assembly 70 further includes a brake mechanism 705, which cooperates with the connecting shaft 702 to prevent the connecting shaft 702 from rotating during braking, thereby preventing the main output shaft 701 from rotating. Specifically, the brake mechanism 705 includes a brake stator 7051 and a brake pad 7052. The brake stator 7051 is sleeved on the outside of the connecting shaft 702 and does not rotate with the connecting shaft 702. The brake stator 7051 is fixedly connected to the housing 7044 and does not rotate with the connecting shaft 702. The brake pad 7052 is sleeved on the outside of the connecting shaft 702 and can rotate with the connecting shaft 702. When the brake pad 7052 is separated from the brake stator 7051, the driving mechanism 704 drives the connecting shaft 702 to rotate. When the brake pad 7052 contacts the brake stator 7051, the connecting shaft 702 is prevented from rotating. The brake mechanism 705, the driving mechanism 704 and the speed reduction mechanism 703 are sequentially arranged along the axial direction of the main output shaft 701 toward the output end of the main output shaft 701. Figure 2 From the perspective of the invention, the joint assembly 70 is arranged sequentially from bottom to top. This arrangement makes the internal structure of the joint assembly 70 very compact, and makes the overall volume of the joint assembly 70 smaller, which is more conducive to being applied to a small and precise robotic arm.

[0055] In the preferred embodiment, the brake mechanism 705 has multiple ways to achieve braking and releasing the brake, and the present invention specifically provides two specific implementation methods. The first implementation method: one of the brake stator 7051 and the brake pad 7052 is provided with an electromagnet, and the so-called electromagnet is magnetized and generates magnetism only after power is supplied, and the other is provided with a magnet, which is an ordinary magnet and has its own magnetism; the magnetism of the electromagnet when powered on is the same as that of the magnet; when the electromagnet is powered on, the brake pad 7052 is separated from the brake stator 7051, and the driving mechanism 704 drives the connecting shaft 702 to rotate, and when the electromagnet is powered off, the brake pad 7052 contacts the brake stator 7051 to stop the connecting shaft 702 from rotating. The second implementation method: one of the brake stator 7051 and the brake pad 7052 is provided with an electromagnet, and the other is provided with a magnet; when the electromagnet is energized, in the first current direction, the magnetism of the electromagnet is the same as that of the magnet, the brake pad 7052 is separated from the brake stator 7051, and the driving mechanism 704 drives the connecting shaft 702 to rotate; in the second current direction, the magnetism of the electromagnet is opposite to that of the magnet, and the brake pad 7052 contacts the brake stator 7051 to stop the connecting shaft 702 from rotating; the first current direction is opposite to the second current direction, that is, the current direction can be changed by using alternating current to form the first current direction and the second current direction. By changing the current direction, the magnetism of the electromagnet can be changed with the change of the current direction, so that the magnetism of the electromagnet is the same or opposite to that of the conventional magnet, thereby achieving mutual repulsion or mutual attraction, so that the connecting shaft 702 is released from the brake or is braked. In addition, the brake stator 7051 and the brake pad 7052 are sequentially arranged along the axial direction of the main output shaft 701 toward the output end of the main output shaft 701, so that Figure 2 From the perspective of , they are arranged sequentially from bottom to top, which further makes the internal structure of the joint assembly 70 very compact, making the overall volume of the joint assembly 70 smaller, and more conducive to being applied to a small and precise robotic arm.

[0056] In a preferred embodiment, see Figure 1-4 The brake assembly 705 also includes a brake pad fixing ring 7053, which is sleeved on the outer side of the connecting shaft 702 and can rotate with the connecting shaft 702. The brake pad 7052 is connected to the side of the brake pad fixing ring 7053 facing the brake stator 7051, and the brake pad 7052 is indirectly connected to the connecting shaft 702 through the brake pad fixing ring 7053.

[0057] In some embodiments, the joint assembly 70 may include a heat dissipation mechanism 706, see Figure 2-3The heat dissipation mechanism 706 is sleeved on the outer side of the connecting shaft 702 and can rotate with the connecting shaft 702. The heat dissipation mechanism 706, the driving mechanism 704 and the speed reduction mechanism 703 are sequentially arranged along the axial direction of the main output shaft 701 toward the output end of the main output shaft 701; Figure 2 From the perspective of , they are arranged sequentially from bottom to top, and this arrangement further makes the internal structure of the joint assembly 70 very compact, making the overall volume of the joint assembly 70 smaller, which is more conducive to being applied to a small and precise robotic arm.

[0058] In a preferred embodiment, see Figure 2-3 The heat dissipation mechanism 706 includes a heat dissipation mounting seat 7061 and a plurality of fan blades 7062. The heat dissipation mounting seat 7061 is sleeved on the outer side of the connecting shaft 702 and can rotate with the connecting shaft 702. The heat dissipation mounting seat 7061 is provided with an annular connecting plate 7064, and the plurality of fan blades 7062 are arranged at intervals along the circumference of the annular connecting plate 7064. In addition, the fan blades 7062 are vertically connected to the annular connecting plate 7064, or the fan blades 7062 are connected to the annular connecting plate 7064 in a state of forming an angle with the radial direction of the annular connecting plate 7064, a part of the fan blades 7062 extends out of the annular connecting plate 7064, and the fan blades 7062 have L-shaped side walls that are simultaneously connected to the side wall and one end surface of the annular connecting plate 7064. By setting up a heat dissipation mechanism 706, wind is generated by the rotation of the fan blades 7062 to quickly fan out the heat generated by the internal operation of the joint assembly 70. A plurality of heat dissipation holes can be set on the end cover 707. The hot air flow fanned by the fan blades 7062 will quickly flow out from the heat dissipation holes to the outside of the joint assembly 70, thereby ensuring the normal operation of the joint assembly 70.

[0059] In a preferred embodiment, see Figure 1-6 and Figure 5-1The joint assembly 70 also includes an encoder assembly, which includes an encoder PCB board 7071 and at least one encoding disk 7072. The encoder PCB board 7071 is sleeved on the periphery of the connecting shaft 702 and does not rotate with the connecting shaft 702. The encoding disk 7072 is sleeved on the connecting shaft 702 and / or the main output shaft 701 and rotates therewith. The encoding disk 7072 is electrically connected to the encoder PCB board 7071; specifically, the encoder PCB board 7071 is connected to the encoder housing 7073, and the encoder housing 7073 is connected to the housing 7044. When the encoding disk When there is only one 7072, it can be mounted on the connecting shaft 702 to detect the rotation speed of the connecting shaft 702, that is, to detect the rotation speed of the input shaft. It can also be mounted on the main output shaft 701 to detect the rotation speed of the main output shaft 701, that is, to detect the rotation speed of the output shaft. When there are two encoding disks 7072, one encoding disk 7072 is mounted on the connecting shaft 702, and the other encoding disk 7072 is mounted on the main output shaft 701. The rotation speeds of the input shaft and the output shaft are accurately detected respectively, so as to realize accurate control of the output rotation speed of the joint assembly. Figure 2 From the perspective of , the encoder assembly, the drive mechanism 704 and the reduction mechanism 703 are arranged in sequence along the axial direction of the main output shaft 701 toward the output end of the main output shaft 701, which further makes the internal structure of the joint assembly 70 very compact, making the overall volume of the joint assembly 70 smaller, and more conducive to being used in small and precise robotic arms.

[0060] In addition, Figure 2 From the perspective of , when the joint assembly 70 has a heat dissipation mechanism 706, the encoder assembly, heat dissipation mechanism, brake mechanism, drive mechanism, and speed reduction mechanism are sequentially arranged along the axial direction of the main output shaft 701 toward the output end of the main output shaft 701, and combined with the sleeve connection relationship between the main output shaft 701 and the connecting shaft 702, the internal structure of the joint assembly 70 is very compact, making the overall volume of the joint assembly 70 small, which is more conducive to being applied to a small and precise robotic arm. Figure 5 From the perspective of, when the joint assembly 70 does not have the heat dissipation mechanism 706, the encoder assembly, the brake mechanism, the drive mechanism, and the reduction mechanism are sequentially arranged along the axial direction of the main output shaft 701 toward the output end of the main output shaft 701, combined with the sleeve connection relationship between the main output shaft 701 and the connecting shaft 702, so that the internal structure of the joint assembly 70 is very compact, and the overall volume of the joint assembly 70 is smaller, which is more conducive to being used in small and precise robotic arms.

[0061] In a preferred embodiment, see Figure 1-6An end cover 707 is provided at the end of the main output shaft 701 away from the reduction mechanism 703 (i.e., the end opposite to the output end), the end cover 707 is sleeved on the main output shaft 701, and a first bearing 708 is provided between the end cover 707 and the main output shaft 701. The first bearing 708 can enhance the load-bearing capacity of the joint assembly 70 and is more durable.

[0062] In a preferred embodiment, see Figure 1-6 A sealed bearing 709 is provided between the connecting shaft 702 and the main output shaft 701 ; by providing the sealed bearing 709 , it is possible to prevent lubricating oil from entering the interior of the joint assembly 70 from between the connecting shaft 702 and the main output shaft 701 and being contaminated.

[0063] In a preferred embodiment, see Figure 1-6 The reduction mechanism 703 is a harmonic reducer. The reduction mechanism 703 includes a wave generator 7031, a flexible wheel 7033 and a rigid wheel 7032. The wave generator 7031 is the input end of the reduction mechanism 703. The wave generator 7031 is sleeved on the periphery of the main output shaft 701 and is connected to the connecting shaft 702. The flexible wheel 7033 is the output end of the reduction mechanism 703. The flexible wheel 7033 is sleeved on the wave generator 7031, and the flexible wheel 7033 and the wave generator 7031 can rotate relative to each other. The flexible wheel 7033 is also connected to the main output shaft 701. The rigid wheel 7032 is sleeved on the flexible wheel 7033, and the flexible wheel 7033 can rotate relative to the rigid wheel 7032.

[0064] In addition, the shape of the joint assembly in the present invention can be square, such as Figure 6 As shown, it can also be cylindrical, such as Figure 1-5 As shown, no matter what shape it is, it does not affect the internal structure of the joint assembly. Figure 7 A through hole 7074 is also provided on the encoder housing 7073, through which a worker can insert a wrench into the joint assembly 70 to operate the internal fasteners, or can pass the wires of the drive mechanism 704 and the brake mechanism 705 through the through hole 7074.

[0065] In some embodiments, an annular mounting plate 7045 is provided on the outside of the housing 7044, and is connected to the surface of the corresponding arm segment body through the annular mounting plate 7045.

[0066] In the prior art, the control circuit board used to control the operation of the joint assembly is arranged outside the joint assembly and is independent of the joint assembly. The joint assembly and the control circuit board need to be electrically connected, which will cause the wires to be scattered outside, which is not neat and beautiful, and also brings some safety hazards. For this reason, in this embodiment, the circuit control board is arranged inside the joint assembly, for example, inside the shell, so that the circuit control board and the joint assembly are integrated into one, which is not only beautiful, but also avoids the safety hazards caused by the wires scattered outside. The circuit control board is electrically connected to the brake mechanism, the drive mechanism and the encoder assembly respectively, and is used to control the operation of the brake mechanism, the drive mechanism and the encoder assembly.

[0067] The present invention also provides a specific implementation of a multi-axis robotic arm, see Figure 1-19 , which includes a lifting arm 10, a first swing arm 20, a second swing arm 30, a third swing arm 40 and a rotating arm 50. The lifting arm 10 can be driven to rise and fall along a first direction. Figure 8 The first direction shown is a vertical direction. In other embodiments, when the multi-axis robot arm is installed in other ways, such as fixed on a wall, it can also be a horizontal direction. The lifting referred to here is also described for the convenience of understanding the technical solution. It does not limit the first direction to a vertical direction, but refers to movement along the first direction. The first swing arm 20, the second swing arm 30, and the third swing arm 40 are stacked along the first direction. The stacked arrangement referred to here does not limit the first swing arm 20, the second swing arm 30, and the third swing arm 40 to be stacked together, but refers to the first swing arm 20, the second swing arm 30, and the third swing arm 40 being located at different heights in the first direction. The axial direction of the rotating shaft of the first swing arm 20, the second swing arm 30, and the third swing arm 40 extends along the first direction, and the rotating shafts of the first swing arm 20, the second swing arm 30, and the third swing arm 40 are not arranged coaxially. The axial extension of the rotating shafts of the first swing arm 20, the second swing arm 30, and the third swing arm 40 along the first direction is not strictly limited to being parallel to the first direction, and may also deviate at a certain angle (e.g., a deviation of 2-10 degrees). The non-coaxial arrangement of the rotating shafts of the first swing arm 20, the second swing arm 30, and the third swing arm 40 means that in a plane perpendicular to the first direction, the rotating shafts of the first swing arm 20, the second swing arm 30, and the third swing arm 40 are spaced a certain distance apart. Figure 2The dotted lines on the first swing arm 20, the second swing arm 30, and the third swing arm 40 are the axial directions of their rotating shafts. The first swing arm 20, the second swing arm 30, the third swing arm 40, and the rotating arm 50 are distributed in sequence from the head end to the tail end of the multi-axis robot arm. The multi-axis robot arm is usually installed at a certain position and carries other working parts (such as a fixture, a detection device, a welding device, etc.) to work. The head end of the multi-axis robot arm referred to here refers to its installation end, and the tail end refers to its working end. From the perspective of the multi-section arm, the first swing arm 20, the second swing arm 30, the third swing arm 40, and the rotating arm 50 are distributed in sequence from the head end to the tail end of the multi-axis robot arm. It is not limited that the first swing arm 20, the second swing arm 30, the third swing arm 40, and the rotating arm 50 must be continuous. Other arm sections can also be added in between. It is only limited to the order of appearance of the first swing arm 20, the second swing arm 30, the third swing arm 40, and the rotating arm 50 from the head end to the tail end. The second swing arm 30 can be driven to rotate relative to the first swing arm 20, and the third swing arm 40 can be driven to rotate relative to the second swing arm 30. The rotating arm 50 can be driven to rotate relative to the third swing arm 40 around its own rotating axis, and the axial direction of the rotating axis of the rotating arm 50 is not parallel to the axial directions of the rotating axes of the first swing arm 20, the second swing arm 30, and the third swing arm 40. It should be noted that, since the rotating arm 50 can be composed of a plurality of rotating axes in different directions, the “axial direction of the rotating axis of the rotating arm 50 is not parallel to the axial directions of the rotating axes of the first swing arm 20, the second swing arm 30, and the third swing arm 40” referred to here means that the axial direction of the first rotating axis of the rotating arm 50 relative to the third swing arm 40 is not parallel to the axial directions of the rotating axes of the first swing arm 20, the second swing arm 30, and the third swing arm 40, and does not limit whether the axial directions of other rotating axes are parallel. In fact, please refer to Figure 8 , Figures 14 to 19In many embodiments of the present invention, the rotating arm 50 is composed of two rotating shafts. In some working conditions, the axial direction of the latter rotating shaft is parallel to the axial direction of the rotating shafts of the first swing arm 20, the second swing arm 30, and the third swing arm 40. The lifting arm 10 is connected to one of the first swing arm 20 and the rotating arm 50, or is connected between two of the first swing arm 20, the second swing arm 30, the third swing arm 40, and the rotating arm 50. The lifting arm 10 is connected to one of the first swing arm 20 and the rotating arm 50, which means that the lifting arm 10 is only connected to the first swing arm 20 or the rotating arm 50, and is not connected to the other arms of the first swing arm 20, the second swing arm 30, the third swing arm 40, and the rotating arm 50. It is clear to those skilled in the art that the "drivable" means that it can move under the drive of the driving mechanism. In other embodiments, at least one of the lifting arm 10, the first swing arm 20, the second swing arm 30, the third swing arm 40, and the rotating arm 50 can also move under the drive of manpower. In a preferred embodiment, the lifting arm 10, the first swing arm 20, the second swing arm 30, the third swing arm 40 and the rotating arm 50 can all be driven independently, that is, the lifting arm 10, the first swing arm 20, the second swing arm 30, the third swing arm 40 and the rotating arm 50 are all provided with independent driving mechanisms, and the movements of each arm section do not interfere with each other, and the flexibility and operability are better.

[0068] The embodiment of the present invention provides the first swing arm 20, the second swing arm 30, and the third swing arm 40 so that the rotating arm 50 can be moved to the desired position more freely without any blind spots in operation. Moreover, the structure of the robot arm is more flexible and can work in a narrow space.

[0069] In a preferred embodiment, the lifting arm 10 is connected to the head end of the first swing arm 20 (such as Figures 9 to 14 ), or connected to the rear end of the rotating arm 50 (as shown Figures 7 to 19 In other embodiments, the lifting arm 10 may also be connected between the first swing arm 20 and the second swing arm 30, or between the second swing arm 30 and the third swing arm 40, or between the tail end of the third swing arm 40 and the rotating arm 50. By arranging the lifting arm 10 between different arm sections, different effects can be achieved.

[0070] Please refer to Figure 8 , Fig.11 and Fig.13In a preferred embodiment, the multi-axis robot arm further comprises a first swing arm joint 22, a second swing arm joint 32, and a third swing arm joint 42, wherein the rotating shaft 21 of the first swing arm 20, the rotating shaft 31 of the second swing arm 30, and the rotating shaft 41 of the third swing arm 40 are respectively located in the first swing arm joint 22, the second swing arm joint 32, and the third swing arm joint 42. The first swing arm joint 22, the second swing arm joint 32, and the third swing arm joint 42 are also respectively provided with a first swing arm driving device, a second swing arm driving device, and a third swing arm driving device for driving the rotating shaft 21 of the first swing arm 20, the rotating shaft 31 of the second swing arm 30, and the rotating shaft 41 of the third swing arm 40 to rotate. The first swing arm 20 is connected to the lifting arm 10 through the first swing arm joint 22. The first swing arm 20 can be driven by the first swing arm joint 22 to rotate relative to the lifting arm 10. The second swing arm 30 is connected to the first swing arm 20 through the second swing arm joint 32. The third swing arm 40 is connected to the second swing arm 30 through the third swing arm joint 42. The rotating arm 50 is directly connected to the third swing arm 40, that is, no other arm joint is added between the rotating arm 50 and the third swing arm 40. The first swing arm joint 22 is fixed relative to the lifting arm 10, the second swing arm joint 32 is fixed relative to the first swing arm 20, and the third swing arm joint 42 is fixed relative to the second swing arm 30. When the rotating shaft 21 of the first swing arm 20 is driven by the first swing arm driving device to rotate, the first swing arm 20 rotates relative to the lifting arm 10. Correspondingly, when the rotating shaft 31 of the second swing arm 30 rotates, the second swing arm 30 rotates relative to the first swing arm 20. When the rotating shaft 41 of the third swing arm 40 rotates, the third swing arm 40 rotates relative to the second swing arm 30.

[0071] In a further preferred embodiment, the first end of the lifting arm 10 is connected to the head end of the first swing arm 20, the head end of the second swing arm 30 is connected to the tail end of the first swing arm 20 through the second swing arm joint 32, the head end of the third swing arm 40 is connected to the tail end of the second swing arm 20 through the third swing arm joint 42, and the rotating arm 50 is connected to the tail end of the third swing arm 40. The first swing arm 20, the second swing arm 30, and the third swing arm 40 have a certain length in the radial direction, and the lifting arm 10, the first swing arm 20, the second swing arm 30, the third swing arm 40, and the rotating arm 50 are connected head to tail, which can achieve better flexibility.

[0072] Please refer to Figure 8 , Fig.12 and Fig.13The lifting arm 10 includes a lifting arm body 11, a storage seat 12 and a lifting drive device 13. The storage seat 12 is in the shape of a box, the second end of the lifting arm body 11 is installed in the storage seat 12, the lifting drive device 13 is also installed in the storage seat 12, and the lifting drive device 13 is transmission-connected to the second end of the lifting arm body 12. A lifting through hole is provided on the top of the storage seat 12, and the first end of the lifting arm body 11 passes through the lifting through hole and is connected to the first swing arm 20. Driven by the lifting drive device 13, the lifting arm body 11 is lifted and lowered relative to the lifting through hole of the storage seat 12. In this embodiment, the storage seat 12 can serve as the base of the multi-axis robot arm, and the storage seat 12 can be fixed on the ground or other installation platforms. Please refer to Fig.19 In the seventh embodiment, the lifting arm 10 may also be provided with a sliding seat 19 on one side thereof, the sliding seat 19 is connected to the screw rod, and moves up and down under the action of the screw rod mechanism, and the first swing arm 20 is installed on the sliding seat 19. In other embodiments, the lifting arm 10 may also be other structures.

[0073] In a further preferred embodiment, the lifting arm body 11 is a hollow structure, and a through hole is provided at the bottom of the second end of the lifting arm body 11. The lifting drive device 13 includes a lifting drive motor 131 and a lifting transmission assembly. The lifting transmission assembly is connected between the lifting drive motor 131 and the lifting arm body 11. The lifting drive motor 131 is located directly below the second end of the lifting arm body 11. When the first end of the lifting arm body 11 is retracted into the storage seat 12, the lifting drive motor 131 is inserted into the through hole at the bottom of the second end of the lifting arm body 11. When the lifting arm body 11 is in the retracted state, it is sleeved outside the lifting drive motor 131, so that the overall height of the storage seat 12 can be reduced, making the structure of the multi-axis robot arm more compact.

[0074] In a further preferred embodiment, the lifting drive device 13 includes a lifting drive motor 131 and a lifting transmission assembly, the lifting transmission assembly is transmission-connected between the lifting drive motor 131 and the lifting arm body 11, a lifting slider 14 is fixed to the bottom of the lifting arm body 11, and a lifting rail 123 extending along the first direction is arranged in the storage seat 12. The lifting transmission assembly includes a driving wheel 132, a driven wheel 133, a synchronous belt and a screw rod 134, the lifting slider 14 is threadedly matched with the screw rod 134, and is slidingly matched with the lifting rail 123, the driving wheel 132 is connected to the output shaft of the lifting drive motor 131, the screw rod 134 is connected to the driven wheel 133, and the driving wheel 132 and the driven wheel 133 are matched through the synchronous belt transmission. The lifting drive motor 131 drives the screw rod 134 to rotate through the above-mentioned driving wheel 132, the driven wheel 133 and the synchronous belt, and further causes the lifting slider 14 to move up and down relative to the screw rod 134.

[0075] In a further preferred embodiment, the lifting slider 14 includes a vertical plate 142 extending along the first direction and a horizontal plate 141 vertically connected to the vertical plate 142, and the lifting rail 123 is arranged on the side wall 122 of the storage seat 12, and the vertical plate 142 is slidably connected to the lifting rail 123. The screw rod 134 is threadedly engaged with the vertical plate 142. Specifically, two parallel lifting rails 123 are arranged on the side wall 122 of the storage seat 12, and two sliding blocks corresponding to the lifting rails are arranged on the back of the vertical plate 142. The screw rod 134 is located between the two lifting rails 123, and a nut threadedly engaged with the screw rod 134 is also arranged on the back of the vertical plate 142. The second end of the lifting arm body 11 is fixed on the horizontal plate 141, and the lifting drive motor 131 is located directly below the horizontal plate 141 and is half surrounded by the vertical plate 142 and the horizontal plate 141. In this embodiment, the lifting slider 14 is in an inverted "L" shape. In other embodiments, the lifting slider 14 may also be in an inverted "U" shape. A avoidance through hole 143 is provided on the horizontal plate 141. When the first end of the lifting arm body 11 is retracted back to the storage seat 12, the lifting drive motor 131 is inserted into the avoidance through hole 143. Such a structure can also reduce the overall height of the storage seat 12, making the structure of the multi-axis robot arm more compact. Of course, in this embodiment, a through hole can also be provided at the bottom of the second end of the lifting arm body 11. When the first end of the lifting arm body 11 is retracted back to the storage seat 12, the lifting drive motor 131 is first inserted into the avoidance through hole 143 on the horizontal plate 141, and then enters the through hole at the bottom of the second end of the lifting arm body 11. An annular seal 19 is also provided at the lifting through hole. The lifting arm body 11 passes through the annular seal 19 and is sealed with the annular seal 19. The annular seal 19 can prevent dust, water droplets, etc. from entering the storage seat 12.

[0076] Please refer to Fig.16 and 17In a preferred embodiment, the multi-axis robot arm further comprises a first swing arm joint 22, a second swing arm joint 32, and a third swing arm joint 42, wherein the rotating shaft 21 of the first swing arm 20, the rotating shaft 31 of the second swing arm 30, and the rotating shaft 41 of the third swing arm 40 are respectively located in the first swing arm joint 22, the second swing arm joint 32, and the third swing arm joint 42. The first swing arm joint 22, the second swing arm joint 32, and the third swing arm joint 42 are also respectively provided with a first swing arm driving device, a second swing arm driving device, and a third swing arm driving device for driving the rotating shaft 21 of the first swing arm 20, the rotating shaft 31 of the second swing arm 30, and the rotating shaft 41 of the third swing arm 40 to rotate. The multi-axis robot arm further comprises a base 60, wherein the first swing arm 20 is rotatably connected to the base 60 through the first swing arm joint 22, and the first swing arm joint 22 is provided in the base 60 and / or the first swing arm 20. In this embodiment, a portion of the first swing arm joint 22 is located in the base 60, and the other portion extends into the first swing arm 20. This structure can make the structure of the first swing arm 20 more compact and small. In other embodiments, the first swing arm joint 22 can also be only arranged in the base 60 or in the first swing arm 20. In the following embodiments, the description of the arrangement positions of the second swing arm joint 32, the third swing arm joint 42, the first rotating arm joint and the second rotating arm joint are similar to this and will not be repeated.

[0077] In some embodiments, the lifting arm 10 is connected between the tail end of the first swing arm 20 and the head end of the second swing arm 30, the second swing arm 30 is connected to the first end of the lifting arm 10 through the second swing arm joint 32, the second swing arm joint 32 is arranged in the lifting arm 10 and / or the second swing arm 30, and is used to drive the second swing arm 30 to rotate relative to the lifting arm 10. The head end of the third swing arm 40 is connected to the tail end of the second swing arm 30 through the third swing arm joint 42, the third swing arm joint 42 is arranged in the second swing arm 30 and / or the third swing arm 40, and is used to drive the third swing arm 40 to rotate relative to the second swing arm 30, and the rotating arm 50 is directly connected to the tail end of the third swing arm 40.

[0078] In other embodiments, the front end of the second swing arm 30 is connected to the rear end of the first swing arm 20 through a second swing arm joint 32, the second swing arm joint 32 is arranged in the first swing arm 20 and / or the second swing arm 30, and is used to drive the second swing arm 30 to rotate relative to the first swing arm 20, the lifting arm 10 is connected between the rear end of the second swing arm 30 and the front end of the third swing arm 40, the front end of the third swing arm 40 is connected to the first end of the lifting arm 10 through the third swing arm joint 42, the third swing arm joint 42 is arranged in the lifting arm 10 and / or the third swing arm 42, and is used to drive the third swing arm 40 to rotate relative to the lifting arm 10, and the rotating arm 50 is directly connected to the rear end of the third swing arm 40.

[0079] In some other embodiments, the head end of the second swing arm 30 is connected to the tail end of the first swing arm 20 through a second swing arm joint 32, and the second swing arm joint 32 is arranged in the first swing arm 20 and / or the second swing arm 30, for driving the second swing arm 30 to rotate relative to the first swing arm 20, the head end of the third swing arm 40 is connected to the tail end of the second swing arm 30 through a third swing arm joint 42, and the third swing arm joint 42 is arranged in the second swing arm 30 and / or the third swing arm 40, for driving the third swing arm 40 to rotate relative to the second swing arm 30, and the lifting arm 10 is connected between the tail end of the third swing arm 40 and the rotating arm 50.

[0080] Please refer to Fig.15 and 19 In a preferred embodiment, the multi-axis robot arm includes a base 60, a lifting arm 10 is connected between the base 60 and the first swing arm 20, the head end of the first swing arm 20 is fixedly connected to the lifting arm 10, and the lifting arm 10 can drive the first swing arm 20 to rotate relative to the base 60. That is, the first swing arm 20 does not rotate relative to the lifting arm 10, but rotates relative to the base 60 together with the lifting arm 10, and the rotation axis of the lifting arm 10 is also the rotation axis of the first swing arm 20. The structures of the second swing arm 30, the third swing arm 40 and the rotating arm 50 can be the same as those in the first embodiment ( Figures 8 to 13 The multi-axis robot arm further comprises a second swing arm joint 32 and a third swing arm joint 42. The rotation axes of the second swing arm 30 and the third swing arm 40 are respectively located in the second swing arm joint 32 and the third swing arm joint 42. The second swing arm joint 32 and the third swing arm joint 42 are also respectively provided with a second swing arm driving device and a third swing arm driving device for driving the rotation axis 31 of the second swing arm 30 and the rotation axis 41 of the third swing arm 40 to rotate. The head end of the second swing arm 30 is connected to the tail end of the first swing arm 20 through the second swing arm joint 32, and the second swing arm joint 32 is arranged in the first swing arm 20 and / or the second swing arm 30, and is used to drive the second swing arm 30 to rotate relative to the first swing arm 20. The head end of the third swing arm 40 is connected to the tail end of the second swing arm 30 through the third swing arm joint 42, and the third swing arm joint 42 is arranged in the second swing arm 30 and / or the third swing arm 40, and is used to drive the third swing arm 40 to rotate relative to the second swing arm 30. The rotating arm 50 is directly connected to the tail end of the third swing arm 40.

[0081] Please refer to Fig.16 , 17In the fourth embodiment, the multi-axis robot arm further comprises a first swing arm joint 22, a second swing arm joint 32, and a third swing arm joint 42, and the rotating shaft 21 of the first swing arm 20, the rotating shaft 31 of the second swing arm 30, and the rotating shaft 41 of the third swing arm 40 are respectively located in the first swing arm joint 22, the second swing arm joint 32, and the third swing arm joint 42. The first swing arm joint 22, the second swing arm joint 32, and the third swing arm joint 42 are also respectively provided with a first swing arm driving device, a second swing arm driving device, and a third swing arm driving device for driving the rotating shaft 21 of the first swing arm 20, the rotating shaft 31 of the second swing arm 30, and the rotating shaft 41 of the third swing arm 40 to rotate. The multi-axis robot arm further comprises a base 60. The first swing arm 20 is rotatably connected to the base 60 through the first swing arm joint 22, and the first swing arm joint 22 is arranged in the base 60 and / or the first swing arm 20. The head end of the second swing arm 30 is connected to the tail end of the first swing arm 20 through the second swing arm joint 32, and the second swing arm joint 32 is arranged in the first swing arm 20 and / or the second swing arm 30, and is used to drive the second swing arm 30 to rotate relative to the first swing arm 20. The head end of the third swing arm 40 is connected to the tail end of the second swing arm 30 through the third swing arm joint 42, and the third swing arm joint 42 is arranged in the second swing arm 30 and / or the third swing arm 40, and is used to drive the third swing arm 40 to rotate relative to the second swing arm 30. The rotating arm 50 is directly connected to the tail end of the third swing arm 40, and the lifting arm 10 is connected to the rotating arm 50, and a lifting drive device 13 is arranged in the lifting arm 10. The lifting arm 10 is also provided with a mounting platform 137 for mounting a load (such as a fixture, a testing device, etc.). The mounting platform 137 is connected to the lifting drive device 13 and is lifted and lowered under the drive of the lifting drive device 13 .

[0082] In a further preferred embodiment, the lifting drive device 13 includes a lifting drive motor 131 and a lifting transmission assembly, and the lifting transmission assembly includes a driving wheel 132, a driven wheel 133, a synchronous belt 135, a screw 134, a screw nut 138 and a ball guide bearing 136. The driving wheel 132 is connected to the output shaft of the lifting drive motor 131, and the screw nut 138 is connected to the driven wheel 133. The driving wheel 132 and the driven wheel 133 are connected by a synchronous belt 135. The screw 134 and the screw nut 135 are threadedly matched, and the ball guide bearing 136 is sleeved outside the screw 134. The lifting drive motor 131 drives the screw nut 138 to rotate through the above-mentioned driving wheel 132, the driven wheel 133, and the synchronous belt 135, and further causes the screw 134 to move up and down relative to the screw nut 138 and the ball guide bearing 136. The mounting platform 137 is fixed to the top of the screw 134.

[0083] In a preferred embodiment, when the rotating arm 50 is located at the tail end of the multi-axis robot arm, a load such as a grasping device, a detection device, a fixing fixture or a connecting device is provided on the rotating arm 50 to drive these loads to work.

[0084] Please refer to Figures 8 to 14 In a preferred embodiment, the rotating arm 50 includes a first rotating arm 51 and a second rotating arm 52. The first rotating arm 51 can be driven to rotate relative to the third swing arm 40 around its own rotating axis, and the axial direction of the rotating axis of the first rotating arm 51 is not parallel to the axial directions of the rotating axes of the first swing arm 20, the second swing arm 30, and the third swing arm 40. The second rotating arm 52 is connected to the first rotating arm 51, and a rotating portion 521 is provided on the second rotating arm 52. The rotating portion 521 can be driven to rotate relative to the first rotating arm 51 around its own rotating axis, and the axial direction of the rotating axis of the rotating portion 521 is not parallel to the axial direction of the rotating axis of the first rotating arm 51. In this embodiment, the rotating portion 521 is an output flange. Through the combination of the first rotating arm 51 and the second rotating arm 52, the multi-axis robot arm can perform various complex actions, and has high flexibility, and can also complete various operation requirements in a narrow space. Of course, in other embodiments, the rotating arm 50 can also have only one rotating arm section, for example, only the first rotating arm 51, or can have three or even more rotating arm sections. In this embodiment, the lifting arm 10, the first swing arm 20, the second swing arm 30, and the third swing arm 40 are responsible for enabling the rotating arm 50 to reach any position within the working range (similar to the function of a human arm), and the first rotating arm 51 and the second rotating arm 52 enable the load of the multi-axis robot arm to perform various movements (similar to the function of a human wrist).

[0085] In a further preferred embodiment, the multi-axis robot arm also includes a first rotating arm joint and a second rotating arm joint 522, and the rotating shafts of the first rotating arm 51 and the second rotating arm 52 are respectively located in the first rotating arm joint and the second rotating arm joint 522. The first rotating arm joint and the second rotating arm joint 522 are also respectively provided with a first rotation driving device and a second rotation driving device for driving the rotating shaft of the first rotating arm 51 and the rotating part 521 of the second rotating arm 52 to rotate. The first rotating arm 51 is connected to the third swing arm 40 through the first rotating arm joint, and the first rotating arm joint is arranged in the third swing arm 40 and / or the first rotating arm 51, and is used to drive the first rotating arm 51 to rotate relative to the third swing arm 40. The second rotating arm joint 522 is arranged in the first rotating arm 51 and / or the second rotating arm 52, and is connected to the rotating part 521 of the second rotating arm 52, and is used to drive the rotating part 521 to rotate relative to the first rotating arm 51.

[0086] In a further preferred embodiment, please refer to Fig. 9 and 10The third swing arm 40 includes a main body 46, a connecting portion 47 and a mounting portion 48. Part of the third swing arm joint 42 is located in the main body 46, and the other part is located in the second swing arm 30. The connecting portion 47 connects the main body 46 and the mounting portion 48. The mounting portion 48 is columnar and the axial direction of the column is perpendicular to the axial direction of the rotating shaft 41 of the third swing arm 40. The main body of the first rotating arm 51 is columnar, and the main body of the first rotating arm 51 is coaxially connected to the mounting portion 48. The first rotating arm joint is at least partially mounted in the mounting portion 48. Through this design, when the central axes of the rotating shafts of the first swing arm 20, the second swing arm 30, and the third swing arm 40 are located in the same plane, the central axis of the rotating portion 521 of the second rotating arm 52 is also located in the plane, which facilitates the positioning and calibration of the multi-axis robot arm.

[0087] Please refer to Fig.15 In another preferred embodiment, the third swing arm 40 includes a main body 46 and a mounting portion 48, the third swing arm joint 42 is partially located in the main body 46, the mounting portion 48 is columnar and the axial direction of the column is perpendicular to the axial direction of the rotating shaft 41 of the third swing arm 40, the main body of the first rotating arm 51 is columnar, the main body of the first rotating arm 51 is coaxially connected to the mounting portion 48, and the first rotating arm joint is at least partially installed in the mounting portion 48.

[0088] Please refer to Figures 8 to 13 In a further preferred embodiment, when the central axes of the rotating shafts of the first swing arm 20, the second swing arm 30, and the third swing arm 40 are arranged in the same plane (such as Fig.10 As shown in FIG. 1 , the central axis of the first rotating arm 51 is perpendicular to the plane where the central axes of the first swing arm 20, the second swing arm 30, and the third swing arm 40 are located. This facilitates the positioning and calibration of the multi-axis robot arm. In another preferred embodiment, when the central axes of the first swing arm 20, the second swing arm 30, and the third swing arm 40 are arranged in the same plane, the central axis of the first rotating arm 51 is parallel to the plane where the central axes of the first swing arm 20, the second swing arm 30, and the third swing arm 40 are located or is located in the plane where the central axes of the first swing arm 20, the second swing arm 30, and the third swing arm 40 are located. Fig.14 In the illustrated embodiment, the central axis of the rotation shaft of the first rotating arm 51 is located in the plane where the central axes of the rotation shafts of the first swing arm 20 , the second swing arm 30 , and the third swing arm 40 are located.

[0089] In a preferred embodiment, the axis of rotation of the first rotating arm 51 is axially perpendicular to the axis of rotation of the third swing arm 40, the axis of rotation of the first rotating arm 51 and the second rotating arm 52 are axially perpendicular, and the rotation angle range of the first rotating arm 51 and the second rotating arm 52 is greater than or equal to 360 degrees. When the rotation angle range of the first rotating arm 51 and the second rotating arm 52 is equal to 360 degrees, the first rotating arm 51 and the second rotating arm 52 can rotate back and forth, and when the rotation angle range is greater than 360 degrees, they can continuously rotate in one direction. Through the above arrangement, the multi-axis robot arm can have a higher degree of freedom and flexibility, and can complete complex movements in a narrow space. It should be noted that the verticality referred to in this application can be spatial verticality, and it is not limited to two lines being in the same plane.

[0090] Please refer to Figures 8 to 13 The first swing arm 20 is connected to the lifting arm 10 through the rotating shaft 21 of the first swing arm 20, and the first swing arm 20 can be driven to rotate relative to the lifting arm 10. The second swing arm 30 is connected to the first swing arm 20 through the rotating shaft 31 of the second swing arm 30. The third swing arm 40 is connected to the second swing arm 30 through the rotating shaft 41 of the third swing arm 40, and the rotating arm 50 is directly connected to the third swing arm 40. The rotating arm 50 includes a first rotating arm 51 and a second rotating arm 52. The first rotating arm 51 can be driven to rotate relative to the third swing arm 40 around its own rotating shaft, and the rotating shaft axis of the first rotating arm 51 is not parallel to the rotating shaft axes of the first swing arm 20, the second swing arm 30, and the third swing arm 40. The second rotating arm 52 is connected to the first rotating arm 51, and a rotating portion 521 is provided on the second rotating arm 52. The rotating portion 521 can be driven to rotate relative to the first rotating arm 51 around its own rotating axis, and the rotating axis of the rotating portion 521 is not parallel to the rotating axis of the first rotating arm 51. In this embodiment, the lifting arm 10, the first swing arm 20, the second swing arm 30, and the third swing arm 40 are responsible for making the rotating arm 50 reach any position within the working range, and the first rotating arm 51 and the second rotating arm 52 enable the load of the multi-axis robot arm to perform various actions.

[0091] In a further preferred embodiment, the lifting arm 10 is arranged vertically, the first swing arm 20, the second swing arm 30, and the third swing arm 40 rotate horizontally, the axis of the first rotating arm 51 is arranged horizontally and perpendicular to the axis of the rotating shafts of the first swing arm 20, the second swing arm 30, and the third swing arm 40, and the axis of the second rotating arm 52 is perpendicular to the axis of the first rotating arm 51. In this embodiment, the lifting arm 10 can be used as the base of the multi-axis robot arm and fixed on the ground or other installation platforms.

[0092] In a further preferred embodiment, the multi-axis robot arm further comprises a first swing arm joint 22, a second swing arm joint 32, and a third swing arm joint 42, wherein the rotating shaft 21 of the first swing arm 20, the rotating shaft 31 of the second swing arm 30, and the rotating shaft 41 of the third swing arm 40 are respectively located in the first swing arm joint 22, the second swing arm joint 32, and the third swing arm joint 42. The first swing arm joint 22, the second swing arm joint 32, and the third swing arm joint 42 are also respectively provided with a first swing arm driving device, a second swing arm driving device, and a third swing arm driving device for driving the rotating shaft 21 of the first swing arm 20, the rotating shaft 31 of the second swing arm 30, and the rotating shaft 41 of the third swing arm 40 to rotate.

[0093] The head end of the first swing arm 20 is connected to the first end of the lifting arm 10 through the first swing arm joint 22, and the first swing arm joint 22 is arranged in the lifting arm 10 and / or the first swing arm 20, and is used to drive the first swing arm 20 to rotate relative to the lifting arm 10. The head end of the second swing arm 30 is connected to the tail end of the first swing arm 20 through the second swing arm joint 32, and the second swing arm joint 32 is arranged in the first swing arm 20 and / or the second swing arm 30, and is used to drive the second swing arm 30 to rotate relative to the first swing arm 20. The head end of the third swing arm 40 is connected to the tail end of the second swing arm 30 through the third swing arm joint 42, and the third swing arm joint 42 is arranged in the second swing arm 30 and / or the third swing arm 40, and is used to drive the third swing arm 40 to rotate relative to the second swing arm 30.

[0094] The multi-axis robot arm also includes a first rotating arm joint and a second rotating arm joint 522, and the rotating axes of the first rotating arm 51 and the second rotating arm 52 are respectively located in the first rotating arm joint and the second rotating arm joint 522. The first rotating arm joint and the second rotating arm joint 522 are also respectively provided with a first rotation driving device and a second rotation driving device for driving the rotating axis of the first rotating arm 51 and the rotating part 521 of the second rotating arm 52 to rotate. The first rotating arm 51 is connected to the third swing arm 40 through the first rotating arm joint. The first rotating arm joint is arranged in the third swing arm 40 and / or the first rotating arm 51, and is used to drive the first rotating arm 51 to rotate relative to the third swing arm 40. The second rotating arm joint 522 is arranged in the first rotating arm 51 and / or the second rotating arm 52, and is connected to the rotating part 521 of the second rotating arm 52, and is used to drive the rotating part 521 to rotate relative to the first rotating arm 51.

[0095] The lifting arm 10 includes a lifting arm body 11, a storage seat 12 and a lifting drive device 13. The storage seat 12 is in the shape of a box, the second end of the lifting arm body 11 is installed in the storage seat 12, and the lifting drive device 13 is also installed in the storage seat 12, and the lifting drive device 13 is transmission-connected with the second end of the lifting arm body 12. A lifting through hole is provided at the top of the storage seat 12, and the first end of the lifting arm body 11 passes through the lifting through hole and is connected to the first swing arm 20. The lifting arm body 11 is lifted and lowered relative to the lifting through hole of the storage seat 12 under the drive of the lifting drive device 13.

[0096] In a further preferred embodiment, the rotation axes of the first swing arm 20, the second swing arm 30, and the third swing arm 40 are axially parallel, and the rotation angle ranges of the first swing arm 20, the second swing arm 30, and the third swing arm 40 are all greater than or equal to 360 degrees.

[0097] Please refer to Fig.18 In the fifth embodiment, the multi-axis robot arm further includes a translation guide rail 82 and a translation drive device 81, the lifting arm 10 is mounted on the translation guide rail 82, and the translation drive device 81 is connected to the translation guide rail 82 to drive the lifting arm 10 to translate on the translation guide rail 82. In this embodiment, the lifting arm 10 is connected to the head end of the first swing arm 20, and the translation drive device 81 drives the lifting arm 10 to translate on the translation guide rail 82, thereby driving the first swing arm 20, the second swing arm 30, the third swing arm 40, and the rotating arm 50 to translate accordingly, thereby increasing the range of motion of the multi-axis robot arm. In other embodiments, when the multi-axis robot arm has a base 60, the multi-axis robot arm may also be provided with a translation guide rail 82 and a translation drive device 81, the base 60 is mounted on the translation guide rail 82, the translation drive device 81 is connected to the translation guide rail 82, and the base 60 is driven to translate on the translation guide rail 82.

[0098] Please refer to Fig.11 and Fig.13In a preferred embodiment, the lifting arm 10, the first swing arm 20, the second swing arm 30, the third swing arm 40 and the rotating arm 50 all have a hollow shell, and the rotating shafts of the first swing arm 20, the second swing arm 30 and the third swing arm 40 are also hollow structures. The multi-axis robot arm also includes wires and / or air pipes 900, and part of the wires and / or air pipes 900 extend from the head end to the tail end of the multi-axis robot arm, pass through the lifting arm 10, the rotating shaft 21 of the first swing arm 20, the rotating shaft 31 of the first swing arm 20, the rotating shaft 41 of the second swing arm 30, the third swing arm 40, and extend to the rotating arm 50. The part of the wires and / or air pipes 900 is because part of the wires and air pipes 900 (for example, the wires connected to the first swing arm 20) do not need to extend to the rotating arm 50. The wires are used to supply power to the electrical components (for example, the driving device) in each arm section, and the air pipes can be used to supply air to the load. In some embodiments, the air pipe may not be provided. A connector 15 may be provided on the lifting arm 10 (eg, the storage seat 12 of the lifting arm 10) for connecting external wires and air pipes. This wiring method can make the structure of the multi-axis robot arm more concise and safer.

[0099] Please refer to Fig. 9 and Fig.11 In a preferred embodiment, the first swing arm 20, the second swing arm 30, and the third swing arm 40 all have a hollow shell, and a detachable upper cover ( Fig. 9 The component numbered 28 is the upper cover of the first swing arm 20). By providing a detachable upper cover, it is convenient to inspect and replace the components in the first swing arm 20, the second swing arm 30, and the third swing arm 40.

[0100] In the above-mentioned embodiment of the multi-axis robotic arm, at least one of the first swing arm joint 22, the second swing arm joint 32, and the third swing arm joint 42 can adopt the aforementioned joint assembly, and at least one of the first rotating arm joint and the second rotating arm joint 522 can also adopt the aforementioned joint assembly 70.

[0101] In the present application, unless otherwise clearly specified and limited, a first feature being "above" or "below" a second feature may mean that the first and second features are in direct contact, or the first and second features are in indirect contact through an intermediate medium. Moreover, a first feature being "above", "above" or "above" a second feature may mean that the first feature is directly above or obliquely above the second feature, or simply means that the first feature is higher in level than the second feature. A first feature being "below", "below" or "below" a second feature may mean that the first feature is directly below or obliquely below the second feature, or simply means that the first feature is lower in level than the second feature.

[0102] In the description of this specification, the description with reference to the terms "preferred embodiment", "further embodiment", "other embodiments" or "specific example" etc. means that the specific features, structures, materials or characteristics described in conjunction with the embodiment or example are included in at least one embodiment or example of the present application. In this specification, the schematic representations of the above terms do not necessarily refer to the same embodiment or example. Moreover, the specific features, structures, materials or characteristics described may be combined in any one or more embodiments or examples in a suitable manner. In addition, those skilled in the art may combine and combine the different embodiments or examples described in this specification and the features of the different embodiments or examples, unless they are contradictory.

[0103] Although the embodiments of the present application have been shown and described above, it can be understood that the above embodiments are exemplary and cannot be understood as limitations on the present application. Ordinary technicians in the field can change, modify, replace and modify the above embodiments within the scope of the present application.

Claims

1. A joint assembly, characterized in that: It includes a main output shaft, a connecting shaft, a driving mechanism and a reduction mechanism. The main output shaft is an axially through-hollow structure. The connecting shaft is sleeved on the outside of the main output shaft. The reduction mechanism is sleeved on the outside of the main output shaft. The connecting shaft is connected to the input end of the reduction mechanism. The output end of the reduction mechanism is connected to the main output shaft. The driving mechanism is sleeved on the outside of the connecting shaft and is used to drive the connecting shaft to rotate, and then drive the main output shaft to rotate after being decelerated by the reduction mechanism.

2. The joint assembly according to claim 1, characterized in that: The joint assembly also includes a brake mechanism, which cooperates with the connecting shaft to stop the connecting shaft from rotating during braking, thereby stopping the main output shaft from rotating; the brake mechanism, drive mechanism and deceleration mechanism are arranged in sequence along the axial direction of the main output shaft toward the output end of the main output shaft.

3. The joint assembly according to claim 2, characterized in that: The brake mechanism includes a brake stator and a brake pad. The brake stator is sleeved on the outside of the connecting shaft and does not rotate with the connecting shaft, and the brake pad is sleeved on the outside of the connecting shaft and can rotate with the connecting shaft. When the brake pad is separated from the brake stator, the driving mechanism drives the connecting shaft to rotate, and when the brake pad contacts the brake stator, the connecting shaft is prevented from rotating.

4. The joint assembly according to claim 3, characterized in that: One of the brake stator and the brake pad is provided with an electromagnet, and the other is provided with a magnet. The magnetism of the electromagnet when it is powered on is the same as that of the magnet. When the electromagnet is powered on, the brake pad is separated from the brake stator, and the driving mechanism drives the connecting shaft to rotate. When the electromagnet is powered off, the brake pad contacts the brake stator to stop the connecting shaft from rotating. Alternatively, one of the brake stator and the brake pad is provided with an electromagnet, and the other is provided with a magnet; when the electromagnet is energized, in the first current direction, the magnetism of the electromagnet is the same as the magnetism of the magnet, the brake pad is separated from the brake stator, and the driving mechanism drives the connecting shaft to rotate; In the second current direction, the magnetism of the electromagnet is opposite to that of the magnet, and the brake pad contacts the brake stator to stop the connecting shaft from rotating; Alternatively, the brake stator and brake pad are arranged in sequence along the axial direction of the main output shaft toward the output end of the main output shaft.

5. The joint assembly according to claim 1, characterized in that: The joint assembly further includes a heat dissipation mechanism, which is sleeved on the outside of the connecting shaft and can rotate with the connecting shaft, and the heat dissipation mechanism, the driving mechanism and the speed reduction mechanism are sequentially arranged along the axial direction of the main output shaft toward the output end of the main output shaft; The heat dissipation mechanism includes a heat dissipation mounting seat and a plurality of fan blades. The heat dissipation mounting seat is sleeved on the outer side of the connecting shaft and can rotate with the connecting shaft. An annular connecting plate is arranged on the heat dissipation mounting seat, and the plurality of fan blades are arranged at intervals along the circumference of the annular connecting plate.

6. The joint assembly according to claim 1, characterized in that: The joint assembly further includes an encoder assembly, which includes an encoder PCB board and at least one encoder disk. The encoder PCB board is sleeved on the periphery of the connecting shaft and does not rotate with the connecting shaft. The encoder disk is sleeved on the connecting shaft and / or the main output shaft and rotates therewith. The encoder disk is connected to the encoder PCB board by electrical signals. The encoder assembly, the driving mechanism and the speed reduction mechanism are arranged in sequence along the axial direction of the main output shaft toward the output end of the main output shaft.

7. The joint assembly according to claim 6, characterized in that: There are two encoding discs, both of which are connected to the encoder PCB board by electrical signals. One of the encoding discs is mounted on the connecting shaft and rotates with the connecting shaft, and is used to test the rotation speed of the connecting shaft. The other encoding disc is mounted on the main output shaft and rotates with the main output shaft, and is used to test the rotation speed of the main output shaft. The two encoding discs are arranged on both sides of the encoder PCB board.

8. The joint assembly according to claim 1, characterized in that: An end cover is arranged at one end of the main output shaft away from the speed reduction mechanism. The end cover is sleeved on the main output shaft, and a first bearing is arranged between the end cover and the main output shaft.

9. The joint assembly according to claim 1, characterized in that: A sealed bearing is provided between the connecting shaft and the main output shaft; Alternatively, the reduction mechanism includes a wave generator, a flexible wheel and a rigid wheel, the wave generator is the input end of the reduction mechanism, the wave generator is sleeved on the periphery of the main output shaft and connected to the connecting shaft, the flexible wheel is the output end of the reduction mechanism, the flexible wheel is sleeved on the wave generator, and the flexible wheel and the wave generator can rotate relative to each other, the flexible wheel is also connected to the main output shaft, the rigid wheel is sleeved on the flexible wheel, and the flexible wheel can rotate relative to the rigid wheel.

10. A multi-axis robotic arm, characterized in that: The multi-axis robot comprises a lifting arm, a first swing arm, a second swing arm, a third swing arm and a rotating arm, wherein the lifting arm is lifted and lowered along a first direction, the first swing arm, the second swing arm and the third swing arm are stacked along the first direction, the rotating shafts of the first swing arm, the second swing arm and the third swing arm axially extend along the first direction, the first swing arm, the second swing arm, the third swing arm and the rotating arm are sequentially distributed from the head end to the tail end of the multi-axis robot arm, the second swing arm rotates relative to the first swing arm, the third swing arm rotates relative to the second swing arm, the rotating arm rotates relative to the third swing arm, and the rotating shaft of the rotating arm is not parallel to the rotating shafts of the first swing arm, the second swing arm and the third swing arm, and the lifting arm is connected to one of the first swing arm and the rotating arm, or is connected between two of the first swing arm, the second swing arm, the third swing arm and the rotating arm; The multi-axis mechanical arm further comprises a first swing arm joint, a second swing arm joint, and a third swing arm joint, wherein the rotation axes of the first swing arm, the second swing arm, and the third swing arm are respectively located in the first swing arm joint, the second swing arm joint, and the third swing arm joint; The first swing arm is connected to the lifting arm through a first swing arm joint, the second swing arm is connected to the first swing arm through a second swing arm joint, the third swing arm is connected to the second swing arm through a third swing arm joint, and the rotating arm is directly connected to the third swing arm; At least one of the first swing arm joint, the second swing arm joint, and the third swing arm joint adopts the joint assembly as described in any one of claims 1-9.

11. The multi-axis robotic arm according to claim 10, characterized in that: The first end of the lifting arm is connected to the head end of the first swing arm, the head end of the second swing arm is connected to the tail end of the first swing arm through a second swing arm joint, the head end of the third swing arm is connected to the tail end of the second swing arm through a third swing arm joint, and the rotating arm is connected to the tail end of the third swing arm.

12. The multi-axis robotic arm according to claim 10, characterized in that: The lifting arm includes a lifting arm body, a storage seat and a lifting drive device. The second end of the lifting arm body is installed in the storage seat. The lifting drive device is also installed in the storage seat. The lifting drive device is connected to the second end of the lifting arm body. A lifting through hole is opened on the top of the storage seat. The first end of the lifting arm body passes through the lifting through hole and is connected to the first swing arm. The lifting arm body is lifted and lowered relative to the lifting through hole of the storage seat under the drive of the lifting drive device.

13. The multi-axis robotic arm according to claim 12, characterized in that: The lifting arm body is a hollow structure, and a through hole is provided at the bottom of the second end of the lifting arm body. The lifting drive device includes a lifting drive motor and a lifting transmission assembly. The lifting transmission assembly is transmission-connected between the lifting drive motor and the lifting arm body. The lifting drive motor is located directly below the second end of the lifting arm body. When the first end of the lifting arm body is retracted into the storage seat, the lifting drive motor is inserted into the through hole at the bottom of the second end of the lifting arm body. Alternatively, the lifting drive device includes a lifting drive motor and a lifting transmission assembly, the lifting transmission assembly is transmission-connected between the lifting drive motor and the lifting arm body, a lifting slider is fixed to the bottom of the lifting arm body, a lifting slide rail extending along the first direction is arranged in the storage seat, the lifting transmission assembly includes a driving wheel, a driven wheel, a synchronous belt and a screw rod, the lifting slider is threadedly matched with the screw rod and slidingly matched with the lifting slide rail, the driving wheel is connected to the output shaft of the lifting drive motor, the screw rod is connected to the driven wheel, the driving wheel and the driven wheel are transmission-matched by the synchronous belt, the lifting drive motor drives the screw rod to rotate through the above-mentioned driving wheel, driven wheel and synchronous belt, and further causes the lifting slider to move up and down relative to the screw rod.

14. The multi-axis robotic arm according to any one of claims 10 to 13, characterized in that: The rotating arm includes a first rotating arm and a second rotating arm. The first rotating arm can be driven to rotate around its own rotating axis relative to the third swing arm, and the axial direction of the rotating axis of the first rotating arm is not parallel to the axial directions of the rotating axes of the first swing arm, the second swing arm, and the third swing arm. The second rotating arm is connected to the first rotating arm, and a rotating part is provided on the second rotating arm. The rotating part can be driven to rotate around its own rotating axis relative to the first rotating arm, and the axial direction of the rotating axis of the rotating part is not parallel to the axial direction of the rotating axis of the first rotating arm.

15. The multi-axis robotic arm according to claim 14, characterized in that: The multi-axis robotic arm also includes a first rotating arm joint and a second rotating arm joint, the rotating axes of the first rotating arm and the second rotating arm are respectively located in the first rotating arm joint and the second rotating arm joint, the first rotating arm is connected to the third swing arm through the first rotating arm joint, the first rotating arm joint is arranged in the third swing arm and / or the first rotating arm, and is used to drive the first rotating arm to rotate relative to the third swing arm, the second rotating arm joint is arranged in the first rotating arm and / or the second rotating arm, and is connected to the rotating part of the second rotating arm, and is used to drive the rotating part to rotate relative to the first rotating arm; at least one of the first rotating arm joint and the second rotating arm joint adopts the joint assembly described in any one of claims 1-9.

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