A robotic arm shoulder joint and a robotic arm

Abstract

The present invention discloses a shoulder joint of a robotic arm and a robotic arm, including: a mounting housing, which is provided with a first accommodation area, a second accommodation area and a third accommodation area that are sequentially communicated along the axis direction of the shoulder joint; a shoulder pulley, which is arranged in the first accommodation area; a pulley base, which is arranged in the third accommodation area, and is sequentially provided with a first bearing part, a second bearing part and a third bearing part, and the cross-sectional areas of the three are gradually increasing; a rotating connecting piece, which is located in the second accommodation area; a pressing component, including a first pressing piece and a second pressing piece, which are respectively used to fix the inner and outer sides of the rotating connecting piece; wherein, the first pressing piece is sleeved on the outside of the first bearing part and fastened to the second bearing part, and the second pressing piece is fixed to the bottom of the mounting housing to restrict the outside of the rotating connecting piece. By adopting the above scheme, it is used to improve the space utilization rate inside the shoulder joint of the upper arm, and at the same time increase the connection stability between the upper arm and the adjacent joint.

Description

Technical Field

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

[0002] With the development of semiconductor manufacturing processes towards large-sized wafers, wafer transfer equipment has put forward higher requirements for 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 a cleanroom environment. Traditional robotic arms usually adopt a series joint structure to meet the requirements of large-range movement. However, in compact application scenarios, the contradiction between the turning radius and the lateral occupied space has become increasingly prominent.

[0003] In the prior art, there is significant room for optimization in the connection structure between the upper arm assembly of the robotic arm and the driving body. Especially as the core node of power transmission, the internal transmission components of the shoulder joint often adopt a stacked layout design, resulting in an increase in the axial dimension accumulation. In addition, the clearance between moving parts is difficult to accurately control, which not only increases the overall volume of the robotic arm but also causes unnecessary small swings during high-speed movement, directly affecting the end positioning accuracy. Although there are cases of improvement through material lightweighting in related technologies, due to the lack of fundamental changes in the basic structure, the effect of size reduction is limited. In addition, the connection architecture of traditional robotic arm joints lacks effective spatial design and 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, which has become one of the key bottlenecks restricting the miniaturization development of semiconductor transfer equipment.

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

[0005] The purpose of the present invention is to provide a shoulder joint of a robotic arm and a robotic arm to improve the space utilization rate inside the shoulder joint of the upper arm and at the same time increase the connection stability between the upper arm and the adjacent joint.

[0006] To achieve the above purpose, the technical solution of the present invention is as follows:

[0007] First aspect: A shoulder joint of a robotic arm, comprising:

[0008] An installation housing, which is provided with a first accommodation area, a second accommodation area, and a third accommodation area that are sequentially communicated along the axis direction of the shoulder joint;

[0009] A shoulder pulley, which is arranged in the first accommodation area;

[0010] The pulley base is provided in the third accommodation area. The pulley base has a first bearing portion, a second bearing portion, and a third bearing portion that are sequentially arranged in a direction away from the shoulder pulley along the axial direction, and the cross-sectional areas of the three gradually increase;

[0011] The rotating connecting member is located in the second accommodation area. The rotating connecting member is annular and has an inner side and an outer side that rotate relative to each other in the horizontal direction. The outer side of the rotating connecting member is rotatably connected to the mounting housing;

[0012] The pressing assembly includes a first pressing member and a second pressing member, which are respectively used to fix the inner and outer sides of the rotating connecting member;

[0013] Among them, the first pressing member is sleeved on the outside of the first bearing portion and fastened to the second bearing portion, and the second pressing member is fixed to the bottom of the mounting housing to restrain the outside of the rotating connecting member.

[0014] The beneficial effects of a manipulator shoulder joint provided by the present invention are as follows: Through the hierarchical layout of the first bearing portion, the second bearing portion, and the third bearing portion provided by the pulley base, the fixing requirements of the shoulder pulley and the supporting and pressing requirements of the rotating connecting member are simultaneously met. And they are integrated in the same axial space. Among them, the first bearing portion is directly fixed to the end of the shoulder pulley, the second bearing portion forms a rotating fit with the inner side of the rotating connecting member, and the third bearing portion bears the support. At the same time, the outer side of the annular rotating connecting member is rotatably connected to the mounting housing, and the inner side forms a main support surface through the second bearing portion. Combined with the restraint of the pressing assembly, a multi-stage bearing path is constructed, thereby increasing the connection stability between the upper arm where the shoulder joint is located and the remaining arms. The present invention maximizes the utilization rate of the internal space of the shoulder joint through the unique design of the pulley base and the pressing assembly, greatly reduces the axial structural depth, and at the same time increases the connection stability between the upper arm and the adjacent joint by cooperating with the rotating connecting member.

[0015] Further, the rotating connecting member includes a roller bearing. The roller bearing has 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 used to fix the outer ring.

[0016] Further, the third bearing portion has an upper surface. The second bearing portion extends from a direction close to the shoulder pulley along the upper surface of the third bearing portion. 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.

[0017] Further, the outer peripheral side of the annular seat is integrally formed with the inner side of the second bearing portion. A plurality of first holes are formed in the annular seat, and the first holes are used to fix the pulley base.

[0018] Further, the first bearing portion is formed by extending from the upper surface of the second bearing portion in a direction close to the shoulder pulley. A plurality of second holes are uniformly formed in the top of the first bearing portion in the circumferential direction. A plurality of third holes are uniformly formed in the shoulder pulley in the thickness direction. The second holes and the third holes are correspondingly arranged and communicated with each other.

[0019] Further, the first pressing member includes an annular pressing cover. The annular pressing cover is sleeved on the outer peripheral side of the first bearing portion. A plurality of fourth holes are uniformly arranged in the annular pressing cover in the circumferential direction. A plurality of fifth holes are uniformly arranged in the second bearing portion in the circumferential direction. The fourth holes are located on the upper surface of the second bearing portion and in the area exposed relative to the first bearing portion. The outer peripheral side of the annular pressing cover completely or partially covers the inner ring; when the pressing cover abuts against the upper surface of the second bearing portion, the fourth holes and the fifth holes are communicated with each other.

[0020] Further, an avoidance groove is formed in the outer peripheral side of the first bearing portion in the circumferential direction near the fourth holes. A plurality of flanges are uniformly arranged on the annular pressing cover in the circumferential direction. The flanges are clamped in the avoidance groove.

[0021] Further, the second pressing member includes a pressing ring. The pressing ring is arranged on the other side of the rotating connecting member away from the first pressing member. The pressing ring is installed at the bottom of the installation housing. The inner peripheral side of the pressing ring extends in a direction close to the axis of the pulley base to completely or partially cover the outer ring.

[0022] Further, a through hole is formed in the pulley base. The through hole penetrates through the first bearing portion, the second bearing portion, the third bearing portion and the shoulder pulley along the axis for passing through a drive shaft or a pipeline.

[0023] Second aspect: The present invention provides a robotic arm, including a robotic arm shoulder joint as described above, having a shoulder joint axis, an elbow joint axis and a wrist joint axis, including:

[0024] An upper arm, which rotates around the shoulder joint axis and is connected to the installation housing;

[0025] A forearm, which rotates around the elbow joint axis and is connected to the upper arm;

[0026] An end effector, which rotates around the wrist joint axis and is connected to the forearm. Description of the Drawings

[0027] Figure 1 It is a schematic structural diagram of a robotic arm according to an embodiment of the present invention;

[0028] Figure 2Cross-sectional view of a shoulder joint structure of a robotic arm according to an embodiment of the present invention;

[0029] Figure 3 Schematic diagram of the position of the first accommodation area according to an embodiment of the present invention;

[0030] Figure 4 Exploded view of a shoulder joint of a robotic arm according to an embodiment of the present invention;

[0031] Figure 5 Schematic diagram of the structure of a pulley base according to an embodiment of the present invention;

[0032] Figure 6 Top view of the pulley base according to an embodiment of the present invention;

[0033] Figure 7 Top view of the first pressing member according to an embodiment of the present invention.

[0034] Reference signs: 1, mounting housing; 11, first accommodation area; 12, second accommodation area; 13, third accommodation area; 2, shoulder pulley; 21, third hole; 3, pulley base; 31, first bearing part; 311, second hole; 312, relief groove; 32, second bearing part; 321, stepped groove; 322, fifth hole; 33, third bearing part; 34, annular seat; 341, first hole; 35, through hole; 4, rotating connecting member; 41, inner ring; 42, outer ring; 5, first pressing member; 51, fourth hole; 52, flange; 6, second pressing member; 7, upper arm; 71, shoulder joint spindle; 8, forearm; 9, body; 91, drive shaft; 92, arm spindle. Detailed Description of the Invention

[0035] To make the objectives, 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. Apparently, the described embodiments are some, but not all, of the embodiments of the present invention. All other embodiments obtained by those of ordinary skill in the art based on the embodiments of the present invention without creative efforts shall fall within the protection scope of the present invention. Unless otherwise defined, the technical terms or scientific terms used herein shall have the ordinary meanings understood by those of ordinary skill in the art in the field to which the present invention pertains. The words such as "including" used herein mean that the elements or items appearing before the word cover the elements or items listed after the word and their equivalents, without excluding other elements or items.

[0036] The following will be described in further detail with reference to the attached Figure 1 -attached Figure 7 , the specific implementation manners of the present invention.

[0037] In the first aspect, with reference to Figure 1 - Figure 2A 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.

[0038] 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.

[0039] 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.

[0040] 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.

[0041] 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.

[0042] In the prior art, when adding a roller bearing, generally, a limiting and pressing device needs to be added to tightly fix the inner ring 41 and the outer ring 42 of the bearing. In order to prevent the added limiting and pressing device from occupying extra space, the structural design of the shoulder joint needs to be made more compact, so as to avoid increasing the overall size of the shoulder joint due to the addition of the roller bearing and the limiting and pressing device, which does not meet the size requirements of the application scenario. Therefore, in the present invention, through the hierarchical layout of the first bearing part 31, the second bearing part 32 and the third bearing part 33 provided by the belt pulley base 3, the fixing requirement of the shoulder belt pulley 2 and the limiting and pressing requirement of the roller bearing are integrated 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 connecting piece 4 is rotatably connected to the mounting shell 1, and the inner side forms a main supporting surface through the second bearing part 32. Combined with the constraint of the pressing component, 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 other arms.

[0043] The pressing component includes 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. Specifically, the first pressing piece 5 is located in the first accommodating area 11 and is used to fix the inner ring 41, and the second pressing piece 6 is fixedly connected to the mounting shell 1 and is used to fix the outer ring 42.

[0044] Referring to 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 piece 5 includes an annular pressing cover, the annular pressing cover is sleeved on the outer peripheral side of the first bearing part 31, and a plurality of fourth holes 51 are evenly arranged in the circumferential direction on the annular pressing cover. The second bearing part 32 is evenly arranged with a plurality of fifth holes 322 in the circumferential direction. The fourth holes 51 are located on the upper surface of the second bearing part 32 and in the area exposed relative to the first bearing part 31. Among them, when the annular pressing cover is used to fix the inner ring 41, the outer peripheral side of the annular pressing cover completely or partially covers and abuts against the inner ring 41. When the pressing cover abuts against the upper surface of the second bearing part 32, the fourth holes 51 communicate with the fifth holes 322. In some specific embodiments, both the fourth holes 51 of the annular pressing cover and the fifth holes 322 of the second bearing part 32 are threaded holes, and the two are fixedly connected by screws.

[0045] In some embodiments, the cross-sectional areas of the first bearing portion 31, the second bearing portion 32, and the third bearing portion 33 gradually increase in a 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 portion, effectively disperse various complex acting forces generated during the movement of the robotic arm, 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 in the size of the shoulder joint due to the addition of components such as roller bearings in a limited space, meet the strict requirements for size in the application scenario of the robotic arm, reduce interference between components, improve the assembly quality, and make the entire shoulder joint structure more compact while meeting the functional requirements.

[0046] In some embodiments, the third bearing portion 33 has an upper surface, and the second bearing portion 32 extends 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 a stepped groove 321 is formed between the outer peripheral surface of the second bearing portion 32 and the upper surface of the third bearing portion 33. The stepped groove 321 is used to place the inner ring 41 of the roller bearing. By using the stepped groove 321 to place the inner ring 41 of the roller bearing, the positioning and constraint of the inner ring 41 are realized, and the loss of transmission accuracy caused by the displacement or vibration of the inner ring 41 is effectively avoided, thereby significantly enhancing the transmission stability of the shoulder joint. In addition, by means of the structural form of the stepped groove 321, the reasonable placement of the inner ring 41 can be realized within a limited axial space without the need to additionally increase space to separately place the inner ring 41.

[0047] 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 peripheral side of the annular seat 34 is integrally formed with the second bearing portion 32. A plurality of first holes 341 are formed in 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 main body 9 of the bottom wall through the first holes 341.

[0048] In some embodiments, the first bearing portion 31 extends 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 uniformly formed in the top of the first bearing portion 31 in the circumferential direction. A plurality of third holes 21 are uniformly formed in the shoulder pulley 2 in the thickness direction. The second holes 311 and the third holes 21 are correspondingly arranged and communicate with each other. In some specific embodiments, the plurality of second holes 311 and the plurality of third holes 21 are both arranged in a circumferential uniform array.

[0049] 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.

[0050] 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.

[0051] 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.

[0052] Second aspect: reference Figure 1, the present invention provides a robotic arm, including the above-mentioned shoulder joint of the robotic arm, which has a shoulder joint axis, an elbow joint axis, and a wrist joint axis. The robotic arm mainly consists of an upper arm 7 that can rotate around the shoulder joint axis, a forearm 8 rotatably connected to the upper arm 7 around the elbow joint axis, and an end effector or a base holder connected to the forearm 8 around the wrist joint axis. The upper arm 7 is connected to the mounting housing 1 through the shoulder joint to achieve the shoulder movement of the robotic arm. The forearm 8 is connected to the upper arm 7 through the elbow joint to achieve the elbow movement of the robotic arm. The end effector or the base holder is connected to the forearm 8 through the wrist joint to achieve the wrist movement of the robotic arm. This structural design enables the robotic arm to have multiple degrees of freedom and be able to 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 robotic arm has higher stability and accuracy on the premise of meeting the size requirements and is suitable for various industrial automation scenarios.

[0053] In some embodiments, the forearm 8 further includes an arm spindle 92 and a drive shaft 91 coaxially 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 through a keyless bushing. The shoulder pulley 2 is sleeved on the outer peripheral side of the shoulder joint spindle 71.

[0054] Although the embodiments of the present invention have been described in detail above, it is obvious to those skilled in the art that various modifications and changes can be made to these embodiments. However, it should be understood that such modifications and changes are all within the scope and spirit of the present invention described in the claims. Moreover, the present invention described herein may have other embodiments and can be implemented or realized in various 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 inner 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 the bottom of the mounting shell (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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