Linkage mode used in mechanical arm and based on matching of telescopic joint and rotary joint vertically provided with motor

Abstract

The invention relates to a linkage mode for the interior of a mechanical arm based on matching of a telescopic joint and a rotary joint of a vertically-installed motor, the telescopic joint and the rotary joint of the vertically-installed motor are introduced into the mechanical arm, the telescopic joint improves the obstacle avoidance performance, and the motion planning algorithm of the mechanical arm is simpler; however, a telescopic joint can bring the problem of a long arm of force, so that a rotary joint of a motor needs to be vertically installed, because the rotary mode of vertically installing the motor can enable the rotary joint to have larger torque under the condition that the outer diameter size is not increased, the rotary joint is benefited from the additional reduction ratio and the reversing function of a bevel gear drive point, and meanwhile, the rotary joint can be used as a rotary joint. And with the assistance of special air pipes and circuit wiring skills, the deployment simplicity of the mechanical arm is improved through the overall design thought of the linkage mode. According to the linkage mode used in the mechanical arm and based on matching of the telescopic joint and the rotary joint of the vertically-installed motor, through the linear telescopic function of the telescopic joint, the mechanical arm extends to be long from being linear and capable of being controlled by an algorithm, and the obstacle avoidance performance of the mechanical arm in a narrow space is improved.

Description

Technical Field

[0001] The present invention relates to the technical field of automated machinery, and particularly to a linkage method for an internal robotic arm based on a combination of telescopic joints and rotary joints with vertically mounted motors. Background Art

[0002] In the design of traditional robotic arms, a structure design with all rotary joints or non-telescopic linear joints is usually adopted. Although this design is simple, due to its single motion mode, it has limitations in certain scenarios:

[0003] Passage through narrow areas: Due to the structure design of traditional robotic arms with rotary joints or non-telescopic linear joints, it is difficult for them to extend from a relatively short distance to a relatively long distance, so they cannot pass through some narrow areas, thus limiting the application scenarios of the robotic arms.

[0004] Deployment limitations in complex environments: Since traditional robotic arms use rotary joints to approach objects, the moving range of the robotic arm body during its movement is large. In complex and dynamic environments, it is easy to interfere with or even collide with environmental objects or people, so a larger space is required for deployment. Summary of the Invention

[0005] Aiming at the deficiencies of the prior art, the present invention provides a linkage method for an internal robotic arm based on a combination of telescopic joints and rotary joints with vertically mounted motors. It has telescopic joints to improve the obstacle avoidance performance and deployment performance of the robotic arm. At the same time, because the telescopic joints will bring a long force arm, a new type of rotary joint for linkage is needed to increase the output torque of the rotary joint, so that the robotic arm can still maintain a high load even under the condition of the long force arm of the telescopic joint. At the same time, due to the introduction of bevel gears, the new type of rotary joint does not have a larger outer diameter size. The telescopic joints are suitable for operation in narrower spaces, and the combination with the rotary joints with vertically mounted motors makes the overall structure of the robotic arm simpler, the motion mode simpler, and the deployment method simpler. At the same time, a special cable wiring is set inside the robotic arm to optimize the layout of the robotic arm, so that the robotic arm has more interfaces but does not increase the external wires and air pipes.

[0006] The following uses an embodiment to introduce the present invention, and this embodiment provides the following technical solution: A linkage method for the interior of a robotic arm, which combines a telescopic joint with a rotary joint of a vertically installed motor, includes a telescopic joint and a rotary joint of a vertically installed motor. The output end of the telescopic joint is provided with a joint connecting rib, and a shaft connecting hole is opened in the middle of the joint connecting rib. The telescopic joint further includes a telescopic joint connecting cylinder, a telescopic joint motor housing, a first telescopic cylinder, a second telescopic cylinder, a third telescopic cylinder, a fourth telescopic cylinder, a terminal interface circuit board, and a terminal bottom cover. The joint connecting rib is arranged at the connection between the telescopic joint connecting cylinder and the rotary joint of the vertically installed motor. The telescopic joint motor housing is buckled at the bottom of the telescopic joint connecting cylinder. The first telescopic cylinder is fixed to the bottom of the telescopic joint motor housing by bolts. The second telescopic cylinder, the third telescopic cylinder, and the fourth telescopic cylinder are nested inside the first telescopic cylinder in sequence. The terminal bottom cover is sealed at the end of the fourth telescopic cylinder. The terminal interface circuit board is arranged inside the terminal bottom cover. A telescopic joint drive structure for driving the first telescopic cylinder, the second telescopic cylinder, the third telescopic cylinder, and the fourth telescopic cylinder to extend is further arranged inside the telescopic joint;

[0007] The rotary joint of the vertically installed motor includes a rotary joint motor housing, a rotary joint connecting cylinder, a right bracket, a left bracket, a limit bracket, a cross beam, and a side encoder. The rotary joint motor housing is buckled at the top of the rotary joint connecting cylinder. The right bracket and the left bracket are both fixedly installed on the left and right sides at the top of the rotary joint motor housing by bolts. The limit bracket is also arranged at the top of the rotary joint motor housing and is located between the right bracket and the left bracket. The cross beam is fixedly installed at the middle between the right bracket and the left bracket by bolts. The side encoder is fixedly installed on the outside of the left bracket. A rotary joint drive structure for driving the bending between the rotary joint of the vertically installed motor and the telescopic joint is further arranged inside the rotary joint of the vertically installed motor.

[0008] Furthermore, the telescopic joint drive structure includes a telescopic joint motor drive circuit board, a telescopic joint motor brake, a telescopic joint drive motor, a spiral wire and air pipe bracket, a first-stage screw, a second-stage screw, and a third-stage screw. The telescopic joint motor drive circuit board is fixedly arranged inside the telescopic joint connection cylinder. The telescopic joint motor brake is installed inside the telescopic joint motor housing. The telescopic joint drive motor is arranged inside the telescopic joint motor housing. The first-stage screw, the second-stage screw, and the third-stage screw are respectively threadedly connected to the upper-stage screw. The top of the first-stage screw is connected to the output end of the telescopic joint drive motor. The bottom of the third-stage screw is fixedly connected to the end bottom cover. One end of the spiral wire and air pipe bracket is fixed inside the telescopic joint connection cylinder, and the other end successively penetrates through the telescopic joint motor brake, the telescopic joint drive motor, the first-stage screw, the second-stage screw, and the third-stage screw and extends into the inside of the third-stage screw. Nuts and telescopic cylinder covers for connecting the first-stage screw, the second-stage screw, and the third-stage screw to the inner walls of the first telescopic cylinder, the second telescopic cylinder, the third telescopic cylinder, and the fourth telescopic cylinder are arranged between the outer surfaces of the first-stage screw, the second-stage screw, and the third-stage screw and the inner walls of the first telescopic cylinder, the second telescopic cylinder, the third telescopic cylinder, and the fourth telescopic cylinder.

[0009] Furthermore, the nuts include a first-stage screw nut, a second-stage screw nut, and a third-stage screw nut. The first-stage screw nut, the second-stage screw nut, and the third-stage screw nut are respectively sleeved on the outer surfaces of the first-stage screw, the second-stage screw, and the third-stage screw. The telescopic cylinder covers include a first telescopic cylinder cover, a second telescopic cylinder cover, a third telescopic cylinder cover, and a fourth telescopic cylinder cover. The first-stage screw nut, the second-stage screw nut, and the third-stage screw nut are respectively embedded in the inner walls of the second telescopic cylinder cover, the third telescopic cylinder cover, and the fourth telescopic cylinder cover. The first telescopic cylinder cover is sleeved on the top of the first-stage screw nut. The outer walls of the first telescopic cylinder cover, the second telescopic cylinder cover, the third telescopic cylinder cover, and the fourth telescopic cylinder cover are respectively fixed to the inner walls of the first telescopic cylinder, the second telescopic cylinder, the third telescopic cylinder, and the fourth telescopic cylinder by bolts.

[0010] Furthermore, limiting structures are arranged on the outer surfaces of the first telescopic cylinder, the second telescopic cylinder, the third telescopic cylinder, and the fourth telescopic cylinder. The limiting structures include telescopic cylinder limiting protrusions and telescopic cylinder limiting grooves. The telescopic cylinder limiting protrusions are arranged on the inner walls of the first telescopic cylinder, the second telescopic cylinder, and the third telescopic cylinder. The telescopic cylinder limiting grooves are opened on the outer walls of the second telescopic cylinder, the third telescopic cylinder, and the fourth telescopic cylinder. The telescopic cylinder limiting protrusions on the inner walls of the first telescopic cylinder, the second telescopic cylinder, and the third telescopic cylinder are in clearance fit with the telescopic cylinder limiting grooves on the outer walls of the second telescopic cylinder, the third telescopic cylinder, and the fourth telescopic cylinder respectively.

[0011] Furthermore, the rotary joint drive structure includes a rotary joint motor drive circuit board, a rotary joint motor brake, a rotary joint drive motor, a rotary joint motor harmonic reducer, a driving bevel gear, a driven bevel gear, and a rotary joint rotating shaft. The rotary joint motor drive circuit board, the rotary joint motor brake, the rotary joint drive motor, and the rotary joint motor harmonic reducer are arranged inside the rotary joint motor housing from bottom to top. The driving bevel gear is fixedly installed on the output shaft of the rotary joint motor harmonic reducer. The rotary joint rotating shaft is movably arranged between the right bracket and the left bracket through bearings. The driven bevel gear is sleeved on the outer surface of the rotary joint rotating shaft, and the driven bevel gear meshes with the driving bevel gear.

[0012] Furthermore, the rotary joint motor drive circuit board is an integrated motor drive control module, equipped with CAN bus communication, having overcurrent and overheat protection functions, and capable of detecting the rotation of the magnet fixedly connected to the motor shaft by the chip with a magnetic encoder. The rotary joint motor brake is an electromagnetic power-off brake that automatically locks the motor shaft when powered off. The rotary joint motor harmonic reducer is a precision harmonic reducer used to amplify the output torque and reduce the speed. The side encoder is a magnetic encoder that converts the angle into digital encoding and can be conveniently connected to the rotary joint motor drive circuit board for extracting and encoding auxiliary information of the input data. The joint connecting rib is sleeved on the outer surface of the rotary joint rotating shaft and fixed to the rotary joint rotating shaft through the shaft connection hole. The shaft connection hole is provided with a limiting hole groove, and a limiting convex block is arranged on the outer surface of the rotary joint rotating shaft and clamped inside the limiting hole groove of the shaft connection hole for fixation.

[0013] Furthermore, a base structure is also provided at the bottom of the rotary joint with a vertically installed motor. The base structure includes a base, a base motor, and a base motor drive circuit board. The base is arranged at the bottom of the rotary joint connecting cylinder. The base motor is installed between the rotary joint connecting cylinder and the base. The base motor drive circuit board is arranged inside the base, and the base motor drive circuit board is electrically connected to the base motor.

[0014] Further, a wire routing structure is also provided inside the telescopic joint and the rotary joint of the vertically installed motor. The wire routing structure includes the wire and cable of the rotary joint part, the air pipe cable of the rotary joint part, the wire and cable of the telescopic joint part, and the air pipe cable of the telescopic joint part. The wire and cable of the rotary joint part and the air pipe cable of the rotary joint part respectively penetrate through the rotary joint motor housing, the rotary joint connecting cylinder, and the end of the right bracket and extend into the interior of the telescopic joint. One ends of the wire and cable of the telescopic joint part and the air pipe cable of the telescopic joint part are respectively connected to the ends of the wire and cable of the rotary joint part and the air pipe cable of the rotary joint part, and the wire and cable of the telescopic joint part and the air pipe cable of the telescopic joint part are spirally arranged inside the telescopic joint.

[0015] Further, wire hole structures are provided on both the outer wall and the interior of the telescopic joint and the rotary joint of the vertically installed motor. The wire hole structure includes a side wire groove of the rotary joint, an axial wire hole, a base wire hole, and a wire passing hole. The base wire hole is provided at the bottom of the base. The axial wire hole is opened in the middle of the axis of the rotary joint rotation axis. The wire passing hole is opened inside the joint connecting rib. The side wire groove of the rotary joint is opened on the inner walls of the rotary joint motor housing, the rotary joint connecting cylinder, the right bracket, and the left bracket.

[0016] Further, the wire and cable of the rotary joint part and the air pipe cable of the rotary joint part complete the internal wire routing of the robotic arm through multiple side wire grooves of the rotary joint, multiple axial wire holes, and multiple wire passing holes. The spiral arrangement of the wire and cable of the telescopic joint part and the air pipe cable of the telescopic joint part enables the wire and cable and the air cable to extend and contract along with the telescopic joint, realizing the transmission of electrical signals and vacuum negative pressure in the telescopic joint.

[0017] Compared with the prior art, the technical solution of the present application has the following beneficial effects:

[0018] 1. The linkage method based on the combination of the telescopic joint and the rotary joint of the vertically installed motor for the interior of the robotic arm, through the linear telescopic function of the telescopic joint, extends the robotic arm linearly from short to long in an algorithm - controllable manner, improving the obstacle - avoidance performance of the robotic arm in a narrow space.

[0019] 2. The linkage method for the internal part of the robotic arm, which combines a telescopic joint with a rotary joint with a vertically mounted motor, introduces a bevel gear through the rotary joint with a vertically mounted motor to increase the reduction ratio of the joint. At the same time, the installation direction of the motor is adjusted to a position perpendicular to the joint rotation axis, enabling a rotary joint with a larger torque to be achieved under a smaller outer diameter cylinder, reducing the occupied space, improving the deployment simplicity, and the larger torque also better supports the long force arm working condition brought by the telescopic joint.

[0020] 3. The linkage method for the internal part of the robotic arm, which combines a telescopic joint with a rotary joint with a vertically mounted motor, optimizes the cable deployment of the robotic arm by threading the cable into the internal structure of the rotary joint with a vertically mounted motor, the internal structure of the telescopic joint, and the base, improving the deployment simplicity of the robotic arm and enabling it to be better deployed in complex environments. BRIEF DESCRIPTION OF THE DRAWINGS

[0021] Figure 1 FIG. [ID] is a schematic structural diagram of a linkage method for the internal part of a robotic arm, which combines a rotary joint with a vertically mounted motor and a telescopic joint;

[0022] Figure 2 FIG. [ID] is a schematic structural diagram of the telescopic joint of a linkage method for the internal part of a robotic arm, which combines a telescopic joint with a rotary joint with a vertically mounted motor;

[0023] Figure 3 FIG. [ID] is a schematic internal structural diagram of the telescopic joint of a linkage method for the internal part of a robotic arm, which combines a telescopic joint with a rotary joint with a vertically mounted motor;

[0024] Figure 4 FIG. [ID] is a schematic enlarged structural diagram of A in a linkage method for the internal part of a robotic arm, which combines a telescopic joint with a rotary joint with a vertically mounted motor Figure 2 ;

[0025] Figure 5 FIG. [ID] is a schematic enlarged structural diagram of B in a linkage method for the internal part of a robotic arm, which combines a telescopic joint with a rotary joint with a vertically mounted motor Figure 3 ;

[0026] Figure 6 FIG. [ID] is a schematic structural diagram of the rotary joint with a vertically mounted motor of a linkage method for the internal part of a robotic arm, which combines a telescopic joint with a rotary joint with a vertically mounted motor;

[0027] Figure 7 FIG. [ID] is a schematic internal structural diagram of the rotary joint with a vertically mounted motor of a linkage method for the internal part of a robotic arm, which combines a telescopic joint with a rotary joint with a vertically mounted motor;

[0028] Figure 8 This is a schematic structural diagram of a side encoder with a linkage method that combines a telescopic joint and a rotary joint with a vertically mounted motor inside a robotic arm;

[0029] Figure 9 This is a schematic structural diagram of a cable routing structure with a linkage method that combines a telescopic joint and a rotary joint with a vertically mounted motor inside a robotic arm;

[0030] Figure 10 This is a schematic cross-sectional structural diagram of a telescopic joint with a linkage method that combines a telescopic joint and a rotary joint with a vertically mounted motor inside a robotic arm;

[0031] Figure 11 This is a schematic structural diagram of an embodiment after combination with a linkage method that combines a telescopic joint and a rotary joint with a vertically mounted motor inside a robotic arm;

[0032] Figure 12 This is a schematic structural diagram of another perspective of an embodiment after combination with a linkage method that combines a telescopic joint and a rotary joint with a vertically mounted motor inside a robotic arm.

[0033] In the figure: 1. Telescopic joint; 11. Telescopic joint connecting cylinder; 12. Telescopic joint motor housing; 13. First telescopic cylinder; 14. Second telescopic cylinder; 141. Telescopic cylinder limit protrusion; 142. Telescopic cylinder limit groove; 15. Third telescopic cylinder; 16. Fourth telescopic cylinder; 17. End interface circuit board; 18. End bottom cover; 2. Rotary joint with vertically installed motor; 21. Rotary joint motor housing; 22. Rotary joint connecting cylinder; 23. Right bracket; 24. Left bracket; 25. Limit bracket; 26. Cross beam; 27. Side encoder; 3. Joint connecting rib; 4. Shaft connecting hole; 51. Telescopic joint motor drive circuit board; 52. Telescopic joint motor brake; 53. Telescopic joint drive motor; 54. Spiral wire and air pipe bracket; 55. First stage screw; 551. Screw limit groove; 56. Second stage screw; 57. Third stage screw; 58. Nut; 581. First stage screw nut; 582. Second stage screw nut; 583. Third stage screw nut; 59. Telescopic cylinder cover; 591. First telescopic cylinder cover; 592. Second telescopic cylinder cover; 593. Third telescopic cylinder cover; 594. Fourth telescopic cylinder cover; 61. Rotary joint motor drive circuit board; 62. Rotary joint motor brake; 63. Rotary joint drive motor; 64. Rotary joint motor harmonic reducer; 65. Driving bevel gear; 66. Driven bevel gear; 67. Rotary joint rotating shaft; 71. Wires and cables of the rotary joint part; 72. Air pipes and cables of the rotary joint part; 73. Wires and cables of the telescopic joint part; 74. Air pipes and cables of the telescopic joint part; 81. Side wire routing groove of the rotary joint; 82. Shaft wire routing hole; 83. Base wire routing hole; 84. Wire threading hole; 91. Base; 92. Base motor; 93. Base motor drive circuit board. Detailed implementation manners

[0034] Next, the technical solutions in the embodiments of the present invention will be clearly and completely described in conjunction with the accompanying drawings in the embodiments of the present invention. Obviously, the described embodiments are only one embodiment of the present invention, rather than all embodiments. This embodiment uses a telescopic joint and three rotary joints with vertically installed motors, plus a traditional base rotary joint. Based on the embodiments of the present invention, all other embodiments obtained by those of ordinary skill in the art without creative efforts, including any combination of any number of telescopic joints and rotary joints with vertically installed motors, such as but not limited to using 3 telescopic joints and 2 rotary joints with vertically installed motors inside a robotic arm, or using 1 telescopic joint and 1 rotary joint with vertically installed motors inside a robotic arm, all fall within the protection scope of the present invention.

[0035] Please refer to Figure 1-12, A linkage method for a rotary joint and a telescopic joint based on a vertically mounted motor inside a robotic arm in this embodiment includes a telescopic joint 1 and a rotary joint 2 with a vertically mounted motor. An articulation connecting rib 3 is provided at the output end of the telescopic joint 1, which is the main connecting part connecting the telescopic joint 1 and the rotary joint 2 with a vertically mounted motor. An axial connecting hole 4 is opened in the middle of the articulation connecting rib 3, which is the limit hole at the connection of the telescopic joint 1 and the rotary joint 2 with a vertically mounted motor. The telescopic joint 1 further includes a telescopic joint connecting cylinder 11, a telescopic joint motor housing 12, a first telescopic cylinder 13, a second telescopic cylinder 14, a third telescopic cylinder 15, a fourth telescopic cylinder 16, a terminal interface circuit board 17, and a terminal bottom cover 18. The articulation connecting rib 3 is arranged at the connection of the telescopic joint connecting cylinder 11 and the rotary joint 2 with a vertically mounted motor. The telescopic joint motor housing 12 is buckled at the bottom of the telescopic joint connecting cylinder 11, which is the housing for installing the driving motor inside the telescopic joint structure and plays a role in fixing the driving motor. The first telescopic cylinder 13 is fixed to the bottom of the telescopic joint motor housing 12 by bolts. The second telescopic cylinder 14, the third telescopic cylinder 15, and the fourth telescopic cylinder 16 are nested inside the first telescopic cylinder 13 in sequence. The multi-stage telescopic cylinders are used for hierarchical telescoping to achieve the stretching action. The terminal bottom cover 18 is sealed at the end of the fourth telescopic cylinder 16, which is used for encapsulating the bottom of the telescopic joint 1. The terminal interface circuit board 17 is arranged inside the terminal bottom cover 18, and the terminal interface circuit board 17 controls the robotic arm grasping mechanism docked on the terminal bottom cover 18. A telescopic joint driving structure for driving the stretching of the first telescopic cylinder 13, the second telescopic cylinder 14, the third telescopic cylinder 15, and the fourth telescopic cylinder 16 is also arranged inside the telescopic joint 1;

[0036] The rotary joint 2 with a vertically mounted motor includes a rotary joint motor housing 21, a rotary joint connecting cylinder 22, a right bracket 23, a left bracket 24, a limit bracket 25, a cross beam 26, and a side encoder 27. The rotary joint motor housing 21 is buckled on the top of the rotary joint connecting cylinder 22. The rotary joint motor housing 21 and the rotary joint connecting cylinder 22 are combined to form the robotic arm cylinder of the rotary joint 2. The right bracket 23 and the left bracket 24 are both fixedly installed on the left and right sides of the top of the rotary joint motor housing 21 by bolts, which are the main support brackets for the rotary joint connection. The limit bracket 25 is also arranged on the top of the rotary joint motor housing 21 and is located between the right bracket 23 and the left bracket 24. The cross beam 26 is fixedly installed at the middle between the right bracket 23 and the left bracket 24 by bolts, and the cross beam 26 is used to strengthen the stability between the right bracket 23 and the left bracket 24. The side encoder 27 is fixedly installed on the outside of the left bracket 24, which is used to detect the rotation angle information of the rotary joint. A rotary joint driving structure for driving the bending between the rotary joint 2 with a vertically mounted motor and the telescopic joint 1 is also arranged inside the rotary joint 2 with a vertically mounted motor.

[0037] Among them, the telescopic joint drive structure includes a telescopic joint motor drive circuit board 51, a telescopic joint motor brake 52, a telescopic joint drive motor 53, a spiral wire and air pipe bracket 54, a first-stage screw 55, a second-stage screw 56, and a third-stage screw 57. The telescopic joint motor drive circuit board 51 is fixedly arranged inside the telescopic joint connecting cylinder 11 to control the circuit board of the telescopic joint. The telescopic joint motor brake 52 is installed inside the telescopic joint motor housing 12 and is used to brake the movement of the telescopic joint drive motor 53. The telescopic joint drive motor 53 is arranged inside the telescopic joint motor housing 12, which is the main power source of the telescopic joint. The first-stage screw 55, the second-stage screw 56, and the third-stage screw 57 are respectively threadedly connected to the upper-stage screw. The first-stage screw 55, the second-stage screw 56, and the third-stage screw 57 push the drive rod of the multi-stage telescopic cylinder, and the top end of the first-stage screw 55 is connected to the output end of the telescopic joint drive motor 53. One end of the spiral wire and air pipe bracket 54 is fixed inside the telescopic joint connecting cylinder 11, and the other end successively passes through the telescopic joint motor brake 52, the telescopic joint drive motor 53, the first-stage screw 55, the second-stage screw 56, and the third-stage screw 57 and extends into the inside of the third-stage screw 57. The spiral wire and air pipe bracket 54 is a support frame for supporting the internal electrical cables. Nuts 58 and telescopic cylinder covers 59 that connect the first-stage screw 55, the second-stage screw 56, and the third-stage screw 57 to the telescopic cylinder two 14, the telescopic cylinder three 15, and the telescopic cylinder four 16 respectively are arranged between the outer surfaces of the first-stage screw 55, the second-stage screw 56, and the third-stage screw 57 and the inner walls of the telescopic cylinder one 13, the telescopic cylinder two 14, the telescopic cylinder three 15, and the telescopic cylinder four 16.

[0038] It should be noted that the joint connecting rib 3 is used to connect adjacent robotic arm cylinders or telescopic cylinders, transmit torque, and enhance structural stability. The telescopic cylinder includes a four-stage nested telescopic cylinder one 13, a telescopic cylinder two 14, a telescopic cylinder three 15, and a telescopic cylinder four 16, and a telescopic joint drive structure is arranged inside for linear telescopic movement. When the number of teeth of the driven bevel gear: the number of teeth of the driving bevel gear = 3.2:1, the torque is amplified to 3.2 times. At the same time, the rotational speed is reduced to 1 / 3.2, and the reduction ratio of the rotary joint motor harmonic reducer is 100:1. Therefore, the reduction ratio of the driving bevel gear combined with the reduction ratio of the rotary joint motor harmonic reducer is 320:1, which means that while the torque is amplified 3.2 times, the rotational speed is reduced to 1 / 320.

[0039] Specifically, when the telescopic joint 1 needs to rotate in conjunction with the rotary joint 2 of the vertically mounted motor, the shaft connection hole 4 opened at the joint connection rib 3 at the bottom of the telescopic joint connecting tube 11 can be mounted on the rotary joint driving structure between the right bracket 23 and the left bracket 24 at the top of the rotary joint 2 of the vertically mounted motor. At the same time, the telescopic joint motor housing 12 and the telescopic tube 1 13 are assembled at the bottom of the telescopic joint connecting tube 11. After completion, the telescopic tube 2 14, the telescopic tube 3 15 and the telescopic tube 4 16 need to be respectively mounted inside the telescopic tube 1 13 in sequence, and the end bottom cover 18 is assembled into the overall assembly of the entire telescopic joint 1 housing part. When it is necessary to push the multi-stage telescopic tube, the internal telescopic joint driving structure is used to realize the multi-stage pushing effect on the telescopic tube 2 14, the telescopic tube 3 15 and the telescopic tube 4 16. When it is necessary to drive the rotary joint 2 of the vertically mounted motor to drive the telescopic joint 1 to rotate, it is also necessary to drive the joint connection rib 3 to bend through the rotary joint driving structure inside the rotary joint motor housing 21 to realize the effect of driving the telescopic joint 1 to rotate.

[0040] The assembly of the rotary joint 2 of the vertically mounted motor is achieved by installing the rotary joint motor housing 21 on the top of the rotary joint connecting tube 22. At the same time, the right bracket 23 and the left bracket 24 are assembled on the top of the rotary joint motor housing 21, and the cross beam 26 is used to further reinforce the right bracket 23 and the left bracket 24. The side encoder 27 is installed on one side of the left bracket 24 to detect the rotation angle of the rotary joint 2 of the vertically mounted motor.

[0041] In this embodiment, the nut 58 includes a first-stage screw nut 581, a second-stage screw nut 582, and a third-stage screw nut 583. The first-stage screw nut 581, the second-stage screw nut 582, and the third-stage screw nut 583 are respectively sleeved on the outer surfaces of the first-stage screw 55, the second-stage screw 56, and the third-stage screw 57. The first-stage screw nut 581, the second-stage screw nut 582, and the third-stage screw nut 583 are used to connect the first-stage screw 55, the second-stage screw 56, and the third-stage screw 57 so that the multi-stage screw can push the multi-stage telescopic cylinder on the multi-stage nut. The telescopic cylinder cover 59 includes a first-stage telescopic cylinder cover 591, a second-stage telescopic cylinder cover 592, a third-stage telescopic cylinder cover 593, and a fourth-stage telescopic cylinder cover 594. The first-stage screw nut 581, the second-stage screw nut 582, and the third-stage screw nut 583 are respectively embedded on the steps of the second-stage telescopic cylinder cover 592, the third-stage telescopic cylinder cover 593, and the fourth-stage telescopic cylinder cover 594. The first-stage telescopic cylinder cover 591, the second-stage telescopic cylinder cover 592, the third-stage telescopic cylinder cover 593, and the fourth-stage telescopic cylinder cover 594 connect the multi-stage nut and the multi-stage telescopic cylinder. The first-stage telescopic cylinder cover 591 is sleeved on the top of the first-stage screw nut 581. The outer walls of the first-stage telescopic cylinder cover 591, the second-stage telescopic cylinder cover 592, the third-stage telescopic cylinder cover 593, and the fourth-stage telescopic cylinder cover 594 are respectively fixed on the inner walls of the first-stage telescopic cylinder 13, the second-stage telescopic cylinder 14, the third-stage telescopic cylinder 15, and the fourth-stage telescopic cylinder 16 by bolts.

[0042] Among them, a limiting structure is provided on the outer surfaces of the first-stage telescopic cylinder 13, the second-stage telescopic cylinder 14, the third-stage telescopic cylinder 15, and the fourth-stage telescopic cylinder 16. The limiting structure includes a telescopic cylinder limiting protrusion 141 and a telescopic cylinder limiting groove 142. The telescopic cylinder limiting protrusion 141 is provided on the inner walls of the first-stage telescopic cylinder 13, the second-stage telescopic cylinder 14, and the third-stage telescopic cylinder 15. The telescopic cylinder limiting protrusion 141 is used to limit the stretching movement directions of the first-stage telescopic cylinder 13, the second-stage telescopic cylinder 14, and the third-stage telescopic cylinder 15. The telescopic cylinder limiting groove 142 is opened on the outer walls of the second-stage telescopic cylinder 14, the third-stage telescopic cylinder 15, and the fourth-stage telescopic cylinder 16. The telescopic cylinder limiting groove 142 cooperates with the telescopic cylinder limiting protrusion 141 to enable the multi-stage telescopic cylinder to stretch linearly. Moreover, the telescopic cylinder limiting protrusions 141 on the inner walls of the first-stage telescopic cylinder 13, the second-stage telescopic cylinder 14, and the third-stage telescopic cylinder 15 respectively have clearance fits with the telescopic cylinder limiting grooves 142 on the outer walls of the second-stage telescopic cylinder 14, the third-stage telescopic cylinder 15, and the fourth-stage telescopic cylinder 16.

[0043] It should be noted that screw limiting grooves are opened on the outer walls of the first-stage screw nut 581, the second-stage screw nut 582, and the third-stage screw nut 583. When the internal threads of the multi-stage screw are connected and rotated, the lifting of the multi-stage screw is restricted by the screw limiting grooves and the screw limiting strips.

[0044] Specifically, when it is necessary to connect the multi-stage telescopic cylinder and the multi-stage screw to realize the stretching movement of the multi-stage screw driving the multi-stage telescopic cylinder, the first-stage screw nut 581, the second-stage screw nut 582, and the third-stage screw nut 583 can be respectively sleeved on the outer surfaces of the first-stage screw 55, the second-stage screw 56, and the third-stage screw 57. Subsequently, the first telescopic cylinder cover 591, the second telescopic cylinder cover 592, the third telescopic cylinder cover 593, and the fourth telescopic cylinder cover 594 are sleeved on the outer surfaces of the first-stage screw nut 581, the second-stage screw nut 582, and the third-stage screw nut 583 for connection. At the same time, it is also necessary to connect the outer walls of the first telescopic cylinder cover 591, the second telescopic cylinder cover 592, the third telescopic cylinder cover 593, and the fourth telescopic cylinder cover 594 to the multi-stage telescopic cylinder to enable the multi-stage screw to drive the multi-stage telescopic cylinder to perform a stretching movement.

[0045] In this embodiment, the rotary joint drive structure includes a rotary joint motor drive circuit board 61, a rotary joint motor brake 62, a rotary joint drive motor 63, a rotary joint motor harmonic reducer 64, a driving bevel gear 65, a driven bevel gear 66, and a rotary joint rotating shaft 67. The rotary joint motor drive circuit board 61, the rotary joint motor brake 62, the rotary joint drive motor 63, and the rotary joint motor harmonic reducer 64 are arranged inside the rotary joint motor housing 21 from bottom to top. The driving bevel gear 65 is fixedly installed on the output shaft of the rotary joint motor harmonic reducer 64. The rotary joint rotating shaft 67 is movably arranged between the right bracket 23 and the left bracket 24 through bearings. The main shaft connected to the rotary joint, the driven bevel gear 66 is sleeved on the outer surface of the rotary joint rotating shaft 67, and the driven bevel gear 66 meshes with the driving bevel gear 65.

[0046] Among them, the rotary joint motor drive circuit board 61 is an integrated motor drive control module, equipped with CAN bus communication, with overcurrent and overheat protection functions, capable of detecting the rotation of the magnet fixedly connected to the motor shaft by the chip with a magnetic encoder. The rotary joint motor brake 62 is an electromagnetic power-off brake, automatically locking the motor shaft when powered off. The rotary joint motor harmonic reducer 64 is a precision harmonic reducer, used to amplify the output torque and reduce the speed. The side encoder 27 is a magnetic encoder that can be conveniently connected to the rotary joint motor drive circuit board 61, used to extract the rotation angle information of the rotary joint rotating shaft 67. The joint connecting rib 3 is sleeved on the outer surface of the rotary joint rotating shaft 67 and is fixed to the rotary joint rotating shaft 67 through the shaft connection hole 4. The shaft connection hole 4 is provided with a keyway, and a limited key is arranged on the outer surface of the rotary joint rotating shaft 67 and fixed inside the keyway of the shaft connection hole 4.

[0047] Specifically, when it is necessary to vertically install the rotary joint 2 of the motor to drive the telescopic joint 1 to rotate, the rotary joint driving motor 63 can be used to drive the rotary joint motor harmonic reducer 64 to rotate, so that the output shaft of the rotary joint motor harmonic reducer 64 drives the driving bevel gear 65 to rotate. The driving bevel gear 65 meshes with the driven bevel gear 66, so that the driving bevel gear 65 drives the driven bevel gear 66 to rotate. Since the driven bevel gear 66 is fixed on the rotary joint rotating shaft 67, the rotary joint rotating shaft 67 drives the joint connecting rib 3 sleeved on its outer surface to drive the telescopic joint 1 to rotate to complete the bending of the robotic arm cylinder.

[0048] In this embodiment, a base structure is further provided at the bottom of the rotary joint 2 with a vertically installed motor. The base structure includes a base 91, a base motor 92, and a base motor drive circuit board 93. The base 91 is arranged at the bottom of the rotary joint connecting cylinder 22. The base 91 fixes the support base of the entire robotic arm on the ground. The base motor 92 is installed between the rotary joint connecting cylinder 22 and the base 91. The base motor 92 drives the rotation of the top position of the robotic arm. The base motor drive circuit board 93 is arranged inside the base 91. The base motor drive circuit board 93 is a circuit board for driving the base motor 92, and the base motor drive circuit board 93 is electrically connected to the base motor 92.

[0049] Specifically, when it is necessary to install the base at the bottom of the rotary joint 2 with a vertically installed motor for fixation, the base motor 92 can be connected to the bottom of the rotary joint connecting cylinder 22. At the same time, the base 91 also needs to be installed at the bottom of the base motor 92, and the base motor drive circuit board 93 is used to control the base motor 92 to drive the overall rotation of the robotic arm at the top of the base 91.

[0050] In this embodiment, wire hole structures are provided on the outer wall and inside of the telescopic joint 1 and the rotary joint 2 with a vertically installed motor. The wiring structure includes the wire cable 71 of the rotary joint part, the air pipe cable 72 of the rotary joint part, the wire cable 73 of the telescopic joint part, and the air pipe cable 74 of the telescopic joint part. The wire cable 71 of the rotary joint part and the air pipe cable 72 of the rotary joint part respectively pass through the ends of multiple rotary joint side wire grooves 81 on the rotary joint motor housing 21, the rotary joint connecting cylinder 22, and the right bracket 23 and extend into the interior of the telescopic joint 1. The wire cable 71 of the rotary joint part and the air pipe cable 72 of the rotary joint part connect the power supply and air supply cables of multiple vertically installed motors of the rotary joint 2 to all the circuit boards inside the telescopic joint 1. One ends of the wire cable 73 of the telescopic joint part and the air pipe cable 74 of the telescopic joint part are respectively connected to the ends of the wire cable 71 of the rotary joint part and the air pipe cable 72 of the rotary joint part, and are coiled inside the telescopic joint 1 to provide power supply and air supply cables for the telescopic joint 1. Moreover, the wire cable 73 of the telescopic joint part and the air pipe cable 74 of the telescopic joint part are coiled between the spiral wire and air pipe bracket 54, the first-stage screw 55, the second-stage screw 56, and the third-stage screw 57.

[0051] Among them, wire hole structures are provided on the outer wall and inside of the telescopic joint 1 and the rotary joint 2 with a vertically installed motor. The wire hole structure includes the rotary joint side wire groove 81, the shaft wire hole 82, the base wire hole 83, and the threading hole 84. The base wire hole 83 is provided at the bottom of the base 91 and is the inlet hole for the mechanical arm cable. The shaft wire hole 82 is opened in the middle of the axis of the rotary joint rotating shaft 67 and is the wire passing hole for the internal cable inside the mechanical arm. The threading hole 84 is opened inside the joint connecting rib 3, and the aperture of the threading hole 84 at the joint connecting rib 3 and the connecting rotary joint 2 is provided. The rotary joint side wire groove 81 is opened on the inner walls of the rotary joint motor housing 21, the rotary joint connecting cylinder 22, the right bracket 23, and the left bracket 24.

[0052] The wire cable 71 of the rotary joint part and the air pipe cable 72 of the rotary joint part complete the internal wiring of the mechanical arm through multiple rotary joint side wire grooves 81, multiple shaft wire holes 82, and multiple threading holes 84. The coiled arrangement of the wire cable 73 of the telescopic joint part and the air pipe cable 74 of the telescopic joint part enables the wire cable and the air cable to extend and contract along with the telescopic joint, realizing the transmission of electrical signals and vacuum negative pressure in the telescopic joint.

[0053] It should be noted that the wire and cable 71 of the rotary joint part, the air pipe cable 72 of the rotary joint part, the wire and cable 73 of the telescopic joint part, and the air pipe cable 74 of the telescopic joint part all pass through the inner wall or the inside of the telescopic joint 1 and the multiple rotary joints 2 with vertically installed motors to realize wire routing.

[0054] Wiring method: The wire and cable 71 of the rotary joint part and the air pipe cable 72 of the rotary joint part pass through the bottom of the wire routing hole 83 of the base. At the same time, the wire and cable 71 of the rotary joint part and the air pipe cable 72 of the rotary joint part also need to pass through the wire passing holes 84 opened at the bottom of multiple joint connecting ribs and enter the inside of the rotary joint connecting cylinder 22. Subsequently, the wire and cable 71 of the rotary joint part and the air pipe cable 72 of the rotary joint part are connected to the inside of the telescopic joint 1 along the side wire routing grooves 81 opened on the outer shells of multiple rotary joint motors 21. After being connected to the inside of the telescopic joint 1, it is also necessary to wind the wire and cable 73 of the telescopic joint part and the air pipe cable 74 of the telescopic joint part inside the spiral wire and air pipe support 54 inside the telescopic joint 1 to complete the entire cable wiring method.

[0055] Working principle: When the rotary joint 2 with a vertically installed motor is required to achieve a bending motion, the rotary joint drive motor 63 inside the rotary joint motor housing 21 can drive the driving bevel gear 65 to rotate, and then the driven bevel gear 66 meshing with the driving bevel gear 65 will follow to perform a rotational motion. During the rotational motion, since the driven bevel gear 66 is fixed on the rotary joint rotating shaft 67, the rotary joint rotating shaft 67 will bend the joint connecting rib 3 on the outer wall of the rotary joint rotating shaft 67 to rotate. Also, since the joint connecting rib 3 is connected to the telescopic joint connecting cylinder 11 at the top of the telescopic joint 1, the entire telescopic joint 1 can achieve a rotational motion to complete the function of joint rotation. When the telescopic joint 1 is required to drive the telescopic cylinder two 14, the telescopic cylinder three 15, and the telescopic cylinder four 16 to achieve an extension motion, the telescopic joint drive motor 53 can also be used to drive the first-stage screw rod 55, the second-stage screw rod 56, and the third-stage screw rod 57 to rotate simultaneously. Then, the first-stage screw rod 55, the second-stage screw rod 56, and the third-stage screw rod 57 respectively perform a relative linear motion through the telescopic cylinder one cover 591, the telescopic cylinder two cover 592, the telescopic cylinder three cover 593, and the telescopic cylinder four cover 594. And the telescopic cylinder one cover 591, the telescopic cylinder two cover 592, the telescopic cylinder three cover 593, and the telescopic cylinder four cover 594 are respectively fixedly connected to the telescopic cylinder one 13, the telescopic cylinder two 14, the telescopic cylinder three 15, and the telescopic cylinder four 16. Thus, the telescopic cylinder one 13, the telescopic cylinder two 14, the telescopic cylinder three 15, and the telescopic cylinder four 16 can achieve the function of synchronous telescopic lifting expansion or retraction of the multi-stage telescopic cylinder under the limitation of the telescopic cylinder limit protrusion 141 and the telescopic cylinder limit groove 142.

[0056] It should be noted that in this document, relational terms such as first and second are only used to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply any actual relationship or order between these entities or operations. Moreover, the term "comprising", "including" or any other variant thereof is intended to cover non-exclusive inclusion, so that a process, method, article or device comprising a series of elements not only includes those elements, but also includes other elements not expressly listed, or elements inherent to such process, method, article or device. Without further limitation, an element defined by the statement "comprising an..." does not exclude the presence of additional identical elements in the process, method, article or device comprising the element.

[0057] Although the embodiments of the present invention have been shown and described, those of ordinary skill in the art can understand that various changes, modifications, substitutions and variations can be made to these embodiments without departing from the principles and spirit of the present invention. Typically, the number of fittings between the telescopic joint and the rotary joint of the vertical installation motor in the embodiment is changed. The scope of the present invention is defined by the appended claims and their equivalents.

Claims

1. A linkage method for the inside of a robotic arm, which is a combination of a telescopic joint and a rotary joint with a vertically installed motor, characterized in that: It includes a telescopic joint (1) and a rotary joint (2) with a vertically installed motor. An articulation connecting rib (3) is provided at the output end of the telescopic joint (1). An axial connection hole (4) is formed in the middle of the articulation connecting rib (3). The telescopic joint (1) further includes a telescopic joint connecting cylinder (11), a telescopic joint motor housing (12), a first telescopic cylinder (13), a second telescopic cylinder (14), a third telescopic cylinder (15), a fourth telescopic cylinder (16), an end interface circuit board (17) and an end bottom cover (18). The articulation connecting rib (3) is arranged at the connection between the telescopic joint connecting cylinder (11) and the rotary joint (2) with a vertically installed motor. The telescopic joint motor housing (12) is buckled at the bottom of the telescopic joint connecting cylinder (11). The first telescopic cylinder (13) is fixed to the bottom of the telescopic joint motor housing (12) by bolts. The second telescopic cylinder (14), the third telescopic cylinder (15) and the fourth telescopic cylinder (16) are nested in the first telescopic cylinder (13) step by step. The end bottom cover (18) is sealed at the end of the fourth telescopic cylinder (16). The end interface circuit board (17) is arranged inside the end bottom cover (18). A telescopic joint drive structure for driving the first telescopic cylinder (13), the second telescopic cylinder (14), the third telescopic cylinder (15) and the fourth telescopic cylinder (16) to extend is further arranged inside the telescopic joint (1). The rotary joint (2) with a vertically installed motor includes a rotary joint motor housing (21), a rotary joint connecting cylinder (22), a right bracket (23), a left bracket (24), a limit bracket (25), a cross beam (26) and a side encoder (27). The rotary joint motor housing (21) is buckled at the top of the rotary joint connecting cylinder (22). The right bracket (23) and the left bracket (24) are both fixedly installed on the left and right sides at the top of the rotary joint motor housing (21) by bolts. The limit bracket (25) is also arranged at the top of the rotary joint motor housing (21) and is located between the right bracket (23) and the left bracket (24). The cross beam (26) is fixedly installed at the middle between the right bracket (23) and the left bracket (24) by bolts. The side encoder (27) is fixedly installed on the outside of the left bracket (24). A rotary joint drive structure for driving the bending between the rotary joint (2) with a vertically installed motor and the telescopic joint (1) is further arranged inside the rotary joint (2) with a vertically installed motor.

2. The linkage method based on the combination of telescopic joints and rotating joints with vertically installed motors inside the robotic arm according to claim 1, wherein: The telescopic joint drive structure includes a telescopic joint motor drive circuit board (51), a telescopic joint motor brake (52), a telescopic joint drive motor (53), a spiral wire and air pipe bracket (54), a first-level screw rod (55), a second-level screw rod (56) and a third-level screw rod (57). The telescopic joint motor drive circuit board (51) is fixedly arranged inside the telescopic joint connecting cylinder (11). The telescopic joint motor brake (52) is installed inside the telescopic joint motor housing (12). The telescopic joint drive motor (53) is arranged inside the telescopic joint motor housing (12). The first-level screw rod (55), the second-level screw rod (56) and the third-level screw rod (57) are respectively threadedly connected to the upper-level screw rod. And the top end of the first-level screw rod (55) is connected to the output end of the telescopic joint drive motor (53). One end of the spiral wire and air pipe bracket (54) is fixed inside the telescopic joint connecting cylinder (11), and the other end successively penetrates through the telescopic joint motor brake (52), the telescopic joint drive motor (53), the first-level screw rod (55), the second-level screw rod (56) and the third-level screw rod (57) and extends into the inside of the third-level screw rod (57). Between the outer surfaces of the first-level screw rod (55), the second-level screw rod (56) and the third-level screw rod (57) and the inner walls of the first telescopic cylinder (13), the second telescopic cylinder (14), the third telescopic cylinder (15) and the fourth telescopic cylinder (16), there are nuts (58) and telescopic cylinder covers (59) that respectively connect the first-level screw rod (55), the second-level screw rod (56) and the third-level screw rod (57) to the second telescopic cylinder (14), the third telescopic cylinder (15) and the fourth telescopic cylinder (16).

3. The linkage method for the interior of a robotic arm, which is a combination of a telescopic joint and a rotary joint with a vertically installed motor according to claim 2, is characterized in that: The nut (58) includes a first-level screw rod nut (581), a second-level screw rod nut (582) and a third-level screw rod nut (583). The first-level screw rod nut (581), the second-level screw rod nut (582) and the third-level screw rod nut (583) are respectively sleeved on the outer surfaces of the first-level screw rod (55), the second-level screw rod (56) and the third-level screw rod (57). The telescopic cylinder cover (59) includes a first telescopic cylinder cover (591), a second telescopic cylinder cover (592), a third telescopic cylinder cover (593) and a fourth telescopic cylinder cover (594). The first-level screw rod nut (581), the second-level screw rod nut (582) and the third-level screw rod nut (583) are respectively embedded on the inner walls of the second telescopic cylinder cover (592), the third telescopic cylinder cover (593) and the fourth telescopic cylinder cover (594). The first telescopic cylinder cover (591) is sleeved on the top end of the first-level screw rod nut (581). The outer walls of the first telescopic cylinder cover (591), the second telescopic cylinder cover (592), the third telescopic cylinder cover (593) and the fourth telescopic cylinder cover (594) are respectively fixed on the inner walls of the first telescopic cylinder (13), the second telescopic cylinder (14), the third telescopic cylinder (15) and the fourth telescopic cylinder (16) by bolts.

4. A linkage method for the interior of a robotic arm, which is a combination of a telescopic joint and a rotary joint with a vertically installed motor as claimed in claim 3, characterized in that: The outer surfaces of the first telescopic cylinder (13), the second telescopic cylinder (14), the third telescopic cylinder (15) and the fourth telescopic cylinder (16) are provided with a limiting structure. The limiting structure includes a telescopic cylinder limiting protrusion (141) and a telescopic cylinder limiting groove (142). The telescopic cylinder limiting protrusion (141) is arranged on the inner walls of the first telescopic cylinder (13), the second telescopic cylinder (14) and the third telescopic cylinder (15). The telescopic cylinder limiting groove (142) is formed on the outer walls of the second telescopic cylinder (14), the third telescopic cylinder (15) and the fourth telescopic cylinder (16). And the telescopic cylinder limiting protrusions (141) on the inner walls of the first telescopic cylinder (13), the second telescopic cylinder (14) and the third telescopic cylinder (15) are in clearance fit with the telescopic cylinder limiting grooves (142) on the outer walls of the second telescopic cylinder (14), the third telescopic cylinder (15) and the fourth telescopic cylinder (16) respectively.

5. A linkage method for the interior of a robotic arm, which is a combination of a telescopic joint and a rotary joint with a vertically installed motor according to claim 1, characterized in that: The rotary joint drive structure includes a rotary joint motor drive circuit board (61), a rotary joint motor brake (62), a rotary joint drive motor (63), a rotary joint motor harmonic reducer (64), a driving bevel gear (65), a driven bevel gear (66) and a rotary joint rotating shaft (67). The rotary joint motor drive circuit board (61), the rotary joint motor brake (62), the rotary joint drive motor (63) and the rotary joint motor harmonic reducer (64) are arranged inside the rotary joint motor housing (21) from bottom to top. The driving bevel gear (65) is fixedly installed on the output shaft of the rotary joint motor harmonic reducer (64). The rotary joint rotating shaft (67) is movably arranged between the right bracket (23) and the left bracket (24) through bearings. The driven bevel gear (66) is sleeved on the outer surface of the rotary joint rotating shaft (67), and the driven bevel gear (66) meshes with the driving bevel gear (65).

6. A linkage method for the interior of a robotic arm, which is a combination of a telescopic joint and a rotary joint with a vertically installed motor as claimed in claim 5, characterized in that: The rotary joint motor drive circuit board (61) is an integrated motor drive control module, equipped with CAN bus communication, having overcurrent and overheat protection functions, and capable of detecting the rotation of the magnet fixedly connected to the motor shaft by the chip with a magnetic encoder. The rotary joint motor brake (62) is an electromagnetic power-off brake, which automatically locks the motor shaft when powered off. The rotary joint motor harmonic reducer (64) is a precision harmonic reducer, used to amplify the output torque and reduce the speed. The side encoder (27) is a magnetic encoder which can be conveniently connected to the rotary joint motor drive circuit board (61), and is used to extract the rotation angle information of the rotary joint rotating shaft (67). The joint connecting rib (3) is sleeved on the outer surface of the rotary joint rotating shaft (67) and is fixed to the rotary joint rotating shaft (67) through the shaft connecting hole (4). A keyway is formed in the shaft connecting hole (4), and a key is arranged on the outer surface of the rotary joint rotating shaft (67) and is fixedly connected inside the keyway of the shaft connecting hole (4).

7. A linkage method for the interior of a robotic arm, which is a combination of a telescopic joint and a rotary joint with a vertically installed motor as claimed in claim 1, characterized in that: A base structure is further provided at the bottom of the rotary joint (2) of the vertically mounted motor. The base structure includes a base (91), a base motor (92), and a base motor drive circuit board (93). The base (91) is provided at the bottom of the rotary joint connecting cylinder (22). The base motor (92) is installed between the rotary joint connecting cylinder (22) and the base (91). The base motor drive circuit board (93) is provided inside the base (91), and the base motor drive circuit board (93) is electrically connected to the base motor (92).

8. A linkage method for the interior of a robotic arm, which is a combination of a telescopic joint and a rotary joint with a vertically installed motor according to claim 1, characterized in that: A wire routing structure is further provided inside the telescopic joint (1) and the rotary joint (2) of the vertically mounted motor. The wire routing structure includes a wire cable (71) of the rotary joint part, an air pipe cable (72) of the rotary joint part, a wire cable (73) of the telescopic joint part, and an air pipe cable (74) of the telescopic joint part. The wire cable (71) of the rotary joint part and the air pipe cable (72) of the rotary joint part respectively penetrate through the rotary joint motor housing (21), the rotary joint connecting cylinder (22), and the end of the right bracket (23) and extend into the interior of the telescopic joint (1). One ends of the wire cable (73) of the telescopic joint part and the air pipe cable (74) of the telescopic joint part are respectively connected to the ends of the wire cable (71) of the rotary joint part and the air pipe cable (72) of the rotary joint part, and the wire cable (73) of the telescopic joint part and the air pipe cable (74) of the telescopic joint part are spirally arranged inside the telescopic joint (1).

9. A linkage method for the interior of a robotic arm, which is a combination of a telescopic joint and a rotary joint with a vertically installed motor, characterized in that: A wire hole structure is provided on the outer wall and inside of the telescopic joint (1) and the rotary joint (2) of the vertically mounted motor. The wire hole structure includes a side wire groove (81) of the rotary joint, an axial wire hole (82), a base wire hole (83), and a wire passing hole (84). The base wire hole (83) is provided at the bottom of the base (91). The axial wire hole (82) is opened in the middle of the axis of the rotary joint rotating shaft (67). The wire passing hole (84) is opened inside the joint connecting rib (3). The side wire groove (81) of the rotary joint is opened on the inner walls of the rotary joint motor housing (21), the rotary joint connecting cylinder (22), the right bracket (23), and the left bracket (24).

10. A linkage method for the interior of a robotic arm, which is a combination of a telescopic joint and a rotary joint with a vertically mounted motor, characterized in that: The wire cable (71) of the rotary joint part and the air pipe cable (72) of the rotary joint part complete the internal wire routing of the robotic arm through a plurality of the side wire grooves (81) of the rotary joint, a plurality of the axial wire holes (82), and a plurality of the wire passing holes (84). The spiral arrangement of the wire cable (73) of the telescopic joint part and the air pipe cable (74) of the telescopic joint part enables the wire cable and the air pipe cable to follow the telescopic joint to extend and contract, realizing the transmission of electrical signals and vacuum negative pressure in the telescopic joint.

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