Mechanical arm shoulder joint and mechanical arm

Abstract

The invention discloses a mechanical arm shoulder joint and a mechanical arm. The mechanical arm shoulder joint comprises an installation shell, a first containing area, a second containing area and a third containing area, wherein the first containing area, the second containing area and the third containing area communicate in sequence in the axis direction of the shoulder joint; the shoulder belt wheel is arranged in the first accommodating area; the belt wheel base is arranged in the third containing area and is sequentially provided with a first bearing part, a second bearing part and a third bearing part, and the sectional areas of the first bearing part, the second bearing part and the third bearing part are gradually increased; the rotary connecting piece is positioned in the second accommodating area; the pressing assembly comprises a first pressing piece and a second pressing piece which are used for fixing the inner side and the outer side of the rotary connecting piece correspondingly. Wherein the first pressing piece is connected to the outer side of the first bearing part in a sleeving mode and fastened to the second bearing part, and the second pressing piece is fixed to the bottom of the installation shell so as to restrain the outer side of the rotary connecting piece. By the adoption of the scheme, the space utilization rate in the shoulder joint of the upper arm is increased, and meanwhile the connection stability between the upper arm and the adjacent joint is improved.

Description

Technical Field

[0001] The present invention relates to the technical field of semiconductor wafer transfer equipment, and in particular to a robot shoulder joint and a robot arm. Background Art

[0002] As semiconductor manufacturing processes develop towards larger wafers, wafer transport equipment places higher demands on the spatial layout and operating accuracy of robotic arms. In existing wafer transfer robots, the size and structural design of multi-joint robotic arms directly affect the adaptability of the equipment in clean room environments. Traditional robotic arms usually use a serial joint structure to meet the needs of a large range of motion, but in compact application scenarios, the contradiction between its turning radius and lateral space occupation becomes increasingly prominent.

[0003] In the prior art, there is significant room for optimization in the connection structure between the upper arm assembly and the drive body of the robot arm. In particular, the shoulder joint is the core node of power transmission, and its internal transmission components often adopt a superimposed layout design, which leads to a cumulative increase in the axial size. In addition, the fitting clearance between the moving parts is difficult to control accurately, which not only increases the overall volume of the robot arm, but also causes unnecessary small swings during high-speed movement, directly affecting the end positioning accuracy. Although there are cases of improvement through lightweight materials in the related art, the size reduction effect is limited due to the lack of fundamental changes in the basic structure. In addition, the connection structure of the traditional robot arm joint lacks an effective spatial design, and it is difficult to balance the transmission rigidity required for high-precision movement of the shoulder joint and the assembly tolerance requirements in a compact space. This has become one of the key bottlenecks restricting the miniaturization of semiconductor transmission equipment.

[0004] Therefore, it is necessary to provide a robotic arm shoulder joint and a robotic arm to solve the above-mentioned problems existing in the prior art. Summary of the invention

[0005] The object of the present invention is to provide a robotic arm shoulder joint and a robotic arm, so as to improve the space utilization inside the shoulder joint of the upper arm and increase the connection stability between the upper arm and the adjacent joints.

[0006] To achieve the above object, the technical solution of the present invention is as follows: A first aspect: A robotic arm shoulder joint, comprising: The installation housing is provided with a first accommodation area, a second accommodation area and a third accommodation area which are connected in sequence along the axis direction of the shoulder joint; A shoulder pulley, disposed in the first accommodating area; A pulley base is arranged in the third accommodating area, and the pulley base has a first bearing part, a second bearing part and a third bearing part which are arranged in sequence along the axial direction away from the shoulder pulley, and the cross-sectional areas of the three parts are gradually increased; A rotating connecting member, located in the second accommodating area, the rotating connecting member is annular and has an inner side and an outer side that rotate relative to each other in a horizontal direction, and the outer side of the rotating connecting member is rotatably connected to the mounting shell; A pressing assembly, comprising a first pressing piece and a second pressing piece, respectively used to fix the inner and outer sides of the rotating connecting piece; The first pressing piece is sleeved with the outer side of the first bearing part and fastened with the second bearing part, and the second pressing piece is fixed and installed on the bottom of the shell to constrain the outer side of the rotating connecting piece.

[0007] The beneficial effect of a robot shoulder joint provided by the present invention is that: a layered layout of a first bearing part, a second bearing part and a third bearing part is set by a pulley base, which satisfies the fixing requirements of the shoulder pulley and the supporting and pressing requirements of the rotating connector at the same time. And it is integrated in the same axial space. Among them, the first bearing part is directly fixed to the end of the shoulder pulley, the second bearing part forms a rotational fit with the inner side of the rotating connector, and the third bearing part bears the support. At the same time, the outer side of the annular rotating connector is rotationally connected to the mounting shell, and the inner side forms a main support surface through the second bearing part. Combined with the constraints of the pressing assembly, a multi-level bearing path is constructed, thereby increasing the connection stability between the upper arm where the shoulder joint is located and the rest of the arm. The present invention maximizes the internal space utilization of the shoulder joint through the unique design of the pulley base and the pressing assembly, greatly reduces the axial structure depth, and cooperates with the rotating connector to increase the connection stability between the upper arm and the adjacent joints.

[0008] Furthermore, the rotating connection member includes a roller bearing having an inner ring and an outer ring, the first pressing member is used to fix the inner ring, and the second pressing member is fixedly connected to the mounting housing and is used to fix the outer ring.

[0009] Further, the third bearing portion has an upper surface, the second bearing portion is extended along the upper surface of the third bearing portion in a direction close to the shoulder pulley, the second bearing portion is annular, and the outer peripheral surface of the second bearing portion and the upper surface of the third bearing portion form an assembly space for limiting the inner ring.

[0010] Furthermore, the outer circumference of the annular seat is integrally formed with the inner side of the second bearing portion, and a plurality of first holes are formed on the annular seat, and the first holes are used to fix the pulley base.

[0011] Furthermore, the first bearing portion is extended from the upper surface of the second bearing portion in a direction close to the shoulder pulley, a plurality of second holes are evenly opened in the circumferential direction on the top of the first bearing portion, a plurality of third holes are evenly opened in the thickness direction of the shoulder pulley, and the second holes are correspondingly arranged and connected to the third holes.

[0012] Further, the first pressing part includes an annular pressure cover, which is sleeved on the outer circumferential side of the first bearing part, and the annular pressure cover is provided with a plurality of fourth holes in a uniform array along the circumferential direction, and the second bearing part is provided with a plurality of fifth holes in a uniform array along the circumferential direction, and the fourth holes are located on the upper surface of the second bearing part and relative to the exposed area of ​​the first bearing part, and the outer circumferential side of the annular pressure cover completely or partially covers the inner ring; when the pressure cover abuts against the upper surface of the second bearing part, the fourth hole and the fifth hole are connected to each other.

[0013] Furthermore, an avoidance groove is provided in a region near the fourth hole on the outer circumferential side of the first bearing portion along the circumferential direction, and a plurality of flanges are evenly arranged on the annular pressure cover along the circumferential direction, and the flanges are clamped in the avoidance groove.

[0014] Furthermore, the second pressing part includes a pressing ring, which is arranged on the other side of the rotating connection part away from the first pressing part, and the pressing ring is installed at the bottom of the mounting shell. The inner circumference of the pressing ring extends toward the axial direction close to the pulley base to completely or partially cover the outer ring.

[0015] Furthermore, the pulley base is provided with a through hole, and the through hole passes through the first bearing part, the second bearing part, the third bearing part and the shoulder pulley along the axis for passing a drive shaft or a pipeline.

[0016] In the second aspect, the present invention provides a robotic arm, comprising the above-mentioned robotic arm shoulder joint, having a shoulder joint axis, an elbow joint axis and a wrist joint axis, comprising: an upper arm, rotating about the shoulder joint axis and connected to the mounting housing; a forearm, rotating about the elbow joint axis and connected to the upper arm; The end effector rotates around the wrist joint axis and is connected to the forearm. BRIEF DESCRIPTION OF THE DRAWINGS

[0017] Figure 1 This is a schematic diagram of the structure of a mechanical arm according to an embodiment of the present invention; Figure 2 This is a cross-sectional view of a shoulder joint structure of a robotic arm according to an embodiment of the present invention; Figure 3 This is a schematic diagram of the position of the first accommodating area in an embodiment of the present invention; Figure 4 An exploded view of a shoulder joint of a robotic arm according to an embodiment of the present invention; Figure 5 This is a schematic structural diagram of a wheeled base according to an embodiment of the present invention; Figure 6A top view of a wheeled base according to an embodiment of the present invention; Figure 7 It is a top view of the first pressing member according to an embodiment of the present invention.

[0018] Figure numerals: 1. mounting shell; 11. first accommodating area; 12. second accommodating area; 13. third accommodating area; 2. shoulder pulley; 21. third hole; 3. pulley base; 31. first bearing part; 311. second hole; 312. avoidance groove; 32. second bearing part; 321. step groove; 322. fifth hole; 33. third bearing part; 34. annular seat; 341. first hole; 35. through hole; 4. rotating connecting part; 41. inner ring; 42. outer ring; 5. first pressing part; 51. fourth hole; 52. flange; 6. second pressing part; 7. upper arm; 71. shoulder joint axis; 8. forearm; 9. main body; 91. drive shaft; 92. arm axis. DETAILED DESCRIPTION

[0019] In order to make the purpose, technical solutions and advantages of the embodiments of the present invention clearer, the technical solutions in the embodiments of the present invention will be clearly and completely described below. Obviously, the described embodiments are part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without making creative work are within the scope of protection of the present invention. Unless otherwise defined, the technical terms or scientific terms used herein should be understood by people with general skills in the field to which the present invention belongs. "Including" and similar words used in this article mean that the elements or objects appearing before the word cover the elements or objects listed after the word and their equivalents, without excluding other elements or objects.

[0020] The following is combined with Figure 1 - Attachment Figure 7 , the specific implementation modes of the present invention are further described in detail.

[0021] First, refer to Figure 1-Figure 2 A robot arm shoulder joint comprises a mounting shell 1, a shoulder pulley 2, a pulley base 3, a rotating connector 4 and a pressing assembly.

[0022] Reference Figure 3 In some embodiments of the present invention, the left side of the mounting housing 1 is provided with a first accommodating area 11, a second accommodating area 12 and a third accommodating area 13 which are interconnected from top to bottom along the axis direction of the shoulder joint. The shoulder pulley 2 is installed in the first accommodating area 11 and does not contact the inner wall of the mounting housing 1. A transmission belt is installed on the left side of the shoulder pulley 2. The transmission belt is used to transmit and connect the elbow joint pulley (not shown in the figure) and the shoulder joint pulley.

[0023] The pulley base 3 is installed in the third accommodating area 13, and the pulley base 3 has a first bearing portion 31, a second bearing portion 32 and a third bearing portion 33, and the first bearing portion 31, the second bearing portion 32 and the third bearing portion 33 are arranged in layers in sequence along the direction away from the shoulder pulley 2. The first bearing portion 31 is fixedly connected to the end of the shoulder pulley 2 away from the first accommodating area 11, and the second bearing portion 32 is rotatably connected to the inner side of the rotating connector 4. In some specific embodiments, an annular groove is provided at the bottom of the shoulder pulley 2, and the first bearing portion 31 is inserted into the annular groove. In some specific embodiments, the bottom of the pulley base 3 is fixedly connected to a body 9, and the body 9 has a drive shaft 91.

[0024] Reference Figure 4-Figure 6 In some embodiments, the first bearing part 31, the third bearing part 33, the shoulder pulley 2 and the annular seat 34 are all provided with through holes 35 along the axial direction, and the connected through holes 35 are interconnected. First, the provision of the through holes 35 enables the arm axis and pipelines to smoothly pass through the various components along the axial direction, avoiding bending of the pipelines, thereby reducing line damage caused by line bending. Secondly, the above design avoids interference caused by the disordered arrangement of the lines. In addition, the connectivity of the through holes 35 also facilitates the maintenance and upgrading of the robotic arm, so that when the arm axis and pipelines need to be replaced or adjusted, the operation can be performed more conveniently without disassembling too many parts, thereby improving maintenance efficiency.

[0025] Reference Figure 2 and Figure 3 , the rotating connector 4 is located in the second accommodating area 12, the rotating connector 4 is annular and has an inner and outer side, and the outer side of the rotating connector 4 is rotatably connected to the mounting housing 1. In some specific embodiments, the rotating connector 4 uses a bearing, specifically a roller bearing, and the roller bearing has an inner ring 41 and an outer ring 42. The roller bearing is used to connect the pulley base 3 and the mounting housing 1, and since the body 9 is connected to the pulley base 3, by adding a roller bearing, the connection stability between the upper arm 7 where the shoulder joint is located and the body 9 can be increased.

[0026] In the prior art, when adding roller bearings, it is generally necessary to add a limiting pressing device to press and fix the inner ring 41 and the outer ring 42 of the bearing. In order to prevent the added limiting pressing device from occupying extra space, the structural design of the shoulder joint needs to be more compact, so as to avoid increasing the size of the shoulder joint as a whole due to the addition of roller bearings and limiting pressing devices, which does not meet the size requirements of the application scenario. To this end, the present invention provides a layered layout of a first bearing part 31, a second bearing part 32 and a third bearing part 33 through a pulley base 3, integrates the fixing requirements of the shoulder pulley 2 and the limiting pressing requirements of the roller bearing in the same axial space, thereby greatly reducing the overall size of the shoulder joint. At the same time, the outer side of the annular rotating connector 4 is rotatably connected to the mounting shell 1, and the inner side forms a main support surface through the second bearing part 32. Combined with the constraints of the pressing assembly, a multi-level bearing path is constructed, thereby increasing the connection stability between the upper arm 7 where the shoulder joint is located and the rest of the arm.

[0027] The pressing assembly includes a first pressing member 5 and a second pressing member 6, which are respectively used to fix the inner and outer sides of the rotating connector 4. Specifically, the first pressing member 5 is located in the first accommodating area 11 to fix the inner ring 41, and the second pressing member 6 is fixedly connected to the mounting housing 1 and used to fix the outer ring 42.

[0028] Reference Figure 7 In some specific embodiments, the first bearing part 31, the second bearing part 32 and the third bearing part 33 are annular. The first pressing part 5 includes an annular gland, which is sleeved on the outer peripheral side of the first bearing part 31, and the annular gland is provided with a plurality of fourth holes 51 in a uniform array along the circumferential direction, and the second bearing part 32 is provided with a plurality of fifth holes 322 in a uniform array along the circumferential direction, and the fourth holes 51 are located on the upper surface of the second bearing part 32 and in an area exposed relative to the first bearing part 31. When the annular gland is used to fix the inner ring 41, the outer peripheral side of the annular gland completely or partially covers and abuts the inner ring 41. When the gland abuts against the upper surface of the second bearing part 32, the fourth hole 51 is connected to the fifth hole 322. In some specific embodiments, the fourth hole 51 of the annular gland and the fifth hole 322 of the second bearing part 32 are both threaded holes, and the two are fixedly connected by screws.

[0029] In some embodiments, the cross-sectional areas of the first bearing part 31, the second bearing part 32 and the third bearing part 33 gradually increase in the direction away from the shoulder pulley 2. Through the above design, a stepped pulley base 3 can be formed. From the perspective of structural stability, the stepped pulley base 3 can enhance the bearing capacity of each bearing part, effectively disperse the various complex forces generated by the robot arm during movement, avoid local stress concentration, and provide a more stable support structure for the shoulder joint; in terms of space utilization, it can avoid the increase of the size of the shoulder joint due to the addition of roller bearings and other components in a limited space, meet the strict size requirements of the robot arm application scenario, reduce interference between components, improve assembly quality, and make the entire shoulder joint structure more compact while meeting functional requirements.

[0030] In some embodiments, the third bearing portion 33 has an upper surface, the second bearing portion 32 is formed by extending from the direction close to the shoulder pulley 2 along the upper surface of the third bearing portion 33, the second bearing portion 32 is annular, and the outer peripheral surface of the second bearing portion 32 and the upper surface of the third bearing portion 33 form a stepped groove 321, and the stepped groove 321 is used to place the inner ring 41. The stepped groove 321 is used to place the inner ring 41 of the roller bearing, so as to achieve the positioning and constraint of the inner ring 41, and effectively avoid the transmission accuracy loss caused by the displacement or vibration of the inner ring 41, thereby significantly enhancing the transmission stability of the shoulder joint. In addition, with the structural form of the stepped groove 321, the reasonable placement of the inner ring 41 can be achieved in a limited axial space, without the need to increase additional space to place the inner ring 41 separately.

[0031] In some embodiments, an annular seat 34 is also fixedly connected to the inner side of the second bearing portion 32. In a specific embodiment, the outer circumference of the annular seat 34 is integrally formed with the second bearing portion 32. A plurality of first holes 341 are provided on the annular seat 34, and the first holes 341 are used to fix the pulley base 3. Specifically, the annular seat 34 is fixedly connected to the body 9 of the bottom wall through the first holes 341.

[0032] In some embodiments, the first bearing portion 31 is extended from the upper surface of the second bearing portion 32 in a direction close to the shoulder pulley 2, a plurality of second holes 311 are evenly provided at the top of the first bearing portion 31 in a circumferential direction, a plurality of third holes 21 are evenly provided in a thickness direction of the shoulder pulley 2, and the second holes 311 are arranged correspondingly to the third holes 21 and are interconnected. In some specific embodiments, the plurality of second holes 311 and the plurality of third holes 21 are arranged in a circumferentially uniform array.

[0033] In some embodiments, an area near the fourth hole 51 on the outer circumferential side of the first bearing portion 31 is provided with an avoidance groove 312 along the circumferential direction, and a plurality of flanges 52 are evenly arranged on the annular gland along the circumferential direction, and the flanges 52 are clamped in the avoidance groove 312. In some specific embodiments, the avoidance groove 312 is provided in a circumferential array, and the depth of the avoidance groove 312 is the same as the height of the first bearing portion 31. In other specific embodiments, the cross-section of the avoidance groove 312 is a trapezoidal structure. The matching design of the flange 52 and the trapezoidal avoidance groove 312 has significant beneficial effects. First, the trapezoidal structure provides a larger contact area, so that the annular gland can remain stable during operation, and is not easy to loosen or fall off, thereby improving the reliability of the entire structure. Secondly, the close fit between the trapezoidal flange 52 and the avoidance groove 312 can effectively disperse the force and enhance the strength of the structure. In addition, the trapezoidal structure also has a certain guiding effect, which is convenient for positioning and installation during assembly and improves assembly efficiency.

[0034] In some embodiments, the second pressing member 6 includes a pressing ring, which is arranged on the other side of the rotating connector 4 away from the first pressing member 5, and the pressing ring is installed at the bottom of the mounting shell 1, and the inner circumference of the pressing ring extends toward the axial direction close to the pulley base 3 to completely or partially cover the outer ring 42. The setting of the pressing ring can effectively fix the outer ring 42 of the rotating connector 4 to prevent it from loosening or shifting during operation, thereby improving the stability of the entire robotic arm. In addition, the inner circumference of the pressing ring extends to cover the outer ring 42, which can provide better protection, reduce the direct contact between the outer ring 42 and the mounting shell 1, reduce the risk of wear and damage, and extend the service life of the robotic arm.

[0035] In summary, the present invention integrates the shoulder pulley 2 fixation, bearing limiting pressing and supporting functions in the same axial space through the multi-layer stepped structure design of the pulley base 3, specifically including the first bearing part 31, the second bearing part 32 and the third bearing part 33, to achieve a highly integrated layout and significantly compress the overall size of the shoulder joint; in addition, by utilizing the stepped groove 321 to embed the roller bearing inner ring 41 and the compact assembly of the pressing assembly, specifically the trapezoidal matching of the annular pressure cover avoidance groove 312 and the flange 52, a roller bearing is added in a limited space and a multi-level load-bearing path is established, which not only enhances the connection stability between the upper arm 7 and the body 9, that is, between the remaining joints, but also avoids the dimensional expansion caused by the addition of bearings; at the same time, the coordinated design of the through hole 35 optimizes the pipeline layout, while achieving a compact structure and taking into account the convenience of maintenance, and finally, on the premise of meeting the size constraints of the application scenario, the structural strength and transmission accuracy of the robot arm are improved.

[0036] Second aspect: reference Figure 1The present invention provides a robot arm, including the above-mentioned robot arm shoulder joint, having a shoulder joint axis, an elbow joint axis and a wrist joint axis. The robot arm is mainly composed of an upper arm 7 that can rotate around the shoulder joint axis, a forearm 8 that can be rotatably connected to the upper arm 7 around the elbow joint axis, and an end effector or base holder connected to the forearm 8 around the wrist joint axis. The upper arm 7 is connected to the mounting shell 1 through the shoulder joint to realize the shoulder movement of the robot arm. The forearm 8 is connected to the upper arm 7 through the elbow joint to realize the elbow movement of the robot arm. The end effector or base holder is connected to the forearm 8 through the wrist joint to realize the wrist movement of the robot arm. This structural design enables the robot arm to have multiple degrees of freedom and can perform flexible movements and operations in three-dimensional space. At the same time, due to the adoption of the above-mentioned shoulder joint structure, the robot arm has higher stability and precision while meeting the size requirements, and is suitable for various industrial automation scenarios.

[0037] In some embodiments, the forearm 8 further includes an arm spindle 92 and a drive shaft 91 coaxial with and fixedly connected to the arm spindle 92. The upper arm 7 further includes a shoulder joint spindle 71 and a keyless bearing, and the arm spindle 92 is connected to the shoulder joint spindle 71 via a keyless bushing. The shoulder pulley 2 is sleeved on the outer peripheral side of the shoulder joint spindle 71.

[0038] Although the embodiments of the present invention are described in detail above, it is obvious to those skilled in the art that various modifications and variations can be made to these embodiments. However, it should be understood that such modifications and variations are within the scope and spirit of the present invention as described in the claims. Moreover, the present invention described herein may have other embodiments and may be implemented or realized in a variety of ways.

Claims

1. A robot arm shoulder joint, characterized in that: include: The housing (1) is installed, and a first accommodating area (11), a second accommodating area (12), and a third accommodating area (13) are provided along the axis direction of the shoulder joint and are connected in sequence; A shoulder pulley (2) disposed in the first accommodating area (11); A pulley base (3) is arranged in the third accommodating area (13), the pulley base (3) comprising a first bearing portion (31), a second bearing portion (32) and a third bearing portion (33) which are arranged in sequence along the axial direction away from the shoulder pulley (2), and the cross-sectional areas of the three portions are gradually increased; a rotating connection member (4) located in the second accommodating area (12), the rotating connection member (4) being annular and having an inner side and an outer side that rotate relative to each other in a horizontal direction, the outer side of the rotating connection member (4) being rotatably connected to the mounting housing (1); A pressing assembly, comprising a first pressing piece (5) and a second pressing piece (6), which are respectively used to fix the inner and outer sides of the rotating connecting piece (4); The first pressing piece (5) is sleeved on the outside of the first bearing part (31) and fastened to the second bearing part (32), and the second pressing piece (6) is fixed to and installed on the bottom of the housing (1) to constrain the outside of the rotating connecting piece (4).

2. A robot arm shoulder joint according to claim 1, characterized in that: The rotating connection member (4) comprises a roller bearing having an inner ring (41) and an outer ring (42), the first pressing member (5) being used to fix the inner ring (41), and the second pressing member (6) being fixedly connected to the mounting housing (1) and being used to fix the outer ring (42).

3. A robot arm shoulder joint according to claim 2, characterized in that: The third bearing portion (33) has an upper surface, the second bearing portion (32) is formed by extending along the upper surface of the third bearing portion (33) in a direction close to the shoulder pulley (2), the second bearing portion (32) is annular, and the outer peripheral surface of the second bearing portion (32) and the upper surface of the third bearing portion (33) form an assembly space for limiting the inner ring (41).

4. A robot arm shoulder joint according to claim 1, characterized in that: It also comprises an annular seat (34), the outer peripheral side of the annular seat (34) and the inner side of the second bearing portion (32) being integrally formed, and the annular seat (34) is provided with a plurality of first holes (341), and the first holes (341) are used to fix the pulley base (3).

5. A robot arm shoulder joint according to claim 1, characterized in that: The first bearing portion (31) is formed by extending from the upper surface of the second bearing portion (32) in a direction close to the shoulder pulley (2); a plurality of second holes (311) are evenly provided at the top of the first bearing portion (31) in a circumferential direction; a plurality of third holes (21) are evenly provided at the shoulder pulley (2) in a thickness direction; the second holes (311) and the third holes (21) are arranged correspondingly and are connected to each other.

6. A robot arm shoulder joint according to claim 2, characterized in that: The first pressing part (5) comprises an annular pressure cover, which is sleeved on the outer peripheral side of the first bearing part (31), and the annular pressure cover is provided with a plurality of fourth holes (51) in a uniform array along the circumferential direction, and the second bearing part (32) is provided with a plurality of fifth holes (322) in a uniform array along the circumferential direction, the fourth holes (51) are located on the upper surface of the second bearing part (32) and in an area exposed relative to the first bearing part (31), and the outer peripheral side of the annular pressure cover completely or partially covers the inner ring (41); when the annular pressure cover abuts against the upper surface of the second bearing part (32), the fourth holes (51) and the fifth holes (322) are connected to each other.

7. A robot arm shoulder joint according to claim 6, characterized in that: An escape groove (312) is provided in a circumferential direction in an area near the fourth hole (51) on the outer circumferential side of the first bearing portion (31), and a plurality of flanges (52) are evenly arranged on the annular gland in the circumferential direction, the flanges (52) being snap-fitted into the escape groove (312).

8. A robot arm shoulder joint according to claim 2, characterized in that: The second pressing part (6) comprises a pressing ring, which is arranged on the other side of the rotating connecting part (4) away from the first pressing part (5), and the pressing ring is installed at the bottom of the mounting shell (1), and the inner circumference of the pressing ring extends toward the axial direction of the pulley base (3) to completely or partially cover the outer ring (42).

9. A robot arm shoulder joint according to claim 4, characterized in that: The pulley base (3) is provided with a through hole (35), and the through hole (35) passes through the first bearing part (31), the second bearing part (32), the third bearing part (33) and the shoulder pulley (2) along the axis for passing a drive shaft or a pipeline.

10. A robotic arm, comprising a robotic arm shoulder joint as claimed in any one of claims 1 to 9, having a shoulder joint axis, an elbow joint axis and a wrist joint axis, characterized in that: include: An upper arm (7) that rotates around the shoulder joint axis and is connected to the mounting housing (1); A forearm (8) that rotates around the elbow joint axis and is connected to the upper arm (7); An end effector rotates around the wrist joint axis and is connected to the forearm (8).

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