Rotary joint structure of robotic arm and robotic arm

Abstract

The utility model relates to the technical field of industrial robots, and discloses a rotary joint structure of a robotic arm and the robotic arm.The rotary joint structure comprises a first shell, a driving assembly, a first synchronous wheel, a second synchronous wheel, a synchronous belt and a speed reducer assembly, the first synchronous wheel is fixedly connected with the output end of the driving assembly, the second synchronous wheel is fixedly connected with the input end of the speed reducer assembly, the synchronous belt is diffracted on the first synchronous wheel and the second synchronous wheel, and the speed reducer assembly is connected with the first shell and a second shell or a mounting base of the other rotary joint structure. And the first shell can rotate relative to the other rotary joint structure or the mounting base through the speed reducer assembly. According to the rotary joint structure, the driving assembly with the first synchronizing wheel is adopted to drive the second synchronizing wheel to force the speed reducer assembly to work, 360-degree rotation of the rotary joint structure is achieved, and the operation braking performance and the braking effect are better.

Description

Technical Field

[0001] The utility model belongs to the technical field of industrial robots, and in particular relates to a rotary joint structure of a robot arm and the robot arm. Background Art

[0002] With the development of industrial intelligence, more and more robots are being used in industries such as industry, agriculture, medical treatment, and services. Industrial robots are multi-joint manipulators or multi-degree-of-freedom machine devices widely used in the industrial field. They have a certain degree of automation and can achieve various industrial processing and manufacturing functions by relying on their own power and control capabilities.

[0003] At present, the proportion of intelligent robots in the packaging industry is gradually increasing. Box packaging still accounts for a large proportion in the transportation industry. Therefore, the demand for the placement and stacking of box packaging is increasing. Therefore, a palletizing workstation including a palletizer is produced. This type of palletizing workstation is widely used in the box packaging industry.

[0004] The palletizing workstation can work stably for a long time after startup, but it needs to be stopped in certain scenarios due to power failure, restart, safety protection, etc. The palletizing workstation usually needs to use a robot arm to palletize materials. The robot arm usually includes multiple rotating joints connected in sequence. The rotation angle of the robot arm can be adjusted by controlling the rotation of the rotating joints, so as to achieve more accurate palletizing of materials.

[0005] However, traditional rotary joints only achieve braking rotation function through motors, and their operational braking performance is poor and the braking effect achieved is limited. Summary of the invention

[0006] In order to solve the problems that the rotating joint of the robot arm in the above-mentioned prior art only realizes the braking rotation function through a motor, has poor operating braking performance and limited braking effect, the utility model provides a rotating joint structure of a robot arm and a robot arm.

[0007] The technical effects to be achieved by the utility model are achieved through the following technical aspects:

[0008] In the first aspect, the utility model provides a rotary joint structure of a robot arm, comprising: a first shell, a drive assembly, a first synchronous wheel, a second synchronous wheel, a synchronous belt and a reducer assembly, wherein the drive assembly is fixedly installed in the first shell, the first synchronous wheel is fixedly connected to the output end of the drive assembly, the second synchronous wheel is fixedly connected to the input end of the reducer assembly, the synchronous belt diffracts on the first synchronous wheel and the second synchronous wheel, and the reducer assembly connects the first shell and the second shell or mounting base of another rotary joint structure to enable the first shell to rotate relative to the second shell or mounting base of another rotary joint structure through the reducer assembly.

[0009] In some optional implementations, the reducer assembly includes: a flexible wheel, a rigid wheel and a wave generator, the wave generator is sleeved outside the flexible wheel and can undergo radial deformation with the flexible wheel, the rigid wheel is sleeved outside the wave generator and can achieve reverse rotation with the wave generator; the second synchronous wheel is fixedly connected to the flexible wheel, the rigid wheel is fixedly connected to the first shell, and the wave generator is fixedly connected to the second shell or the mounting base.

[0010] In some optional implementations, a sleeve is further included, wherein a first end of the sleeve is axially fixedly connected to the second shell or the mounting base, and a second end of the sleeve is embedded in the reducer assembly and rotationally connected to the reducer assembly.

[0011] In some optional implementations, the reducer assembly includes a harmonic reducer.

[0012] In some optional implementations, the drive assembly is fixedly mounted on the lower end of the first shell via a first mounting seat; a first through hole is provided at the lower end of the first shell through which the second synchronous wheel can pass; a first annular mounting platform matching the rigid wheel is provided at the bottom of the first shell, the first annular mounting platform is coaxially arranged with the first through hole, and the rigid wheel is embedded in the first shell from the bottom of the first shell and fixedly mounted on the first annular mounting platform.

[0013] In some optional implementations, a kit assembly is further included, which is fixedly mounted on the lower end of the first shell, and the synchronous belt diffracted at the second synchronous wheel end passes through the kit assembly.

[0014] In some optional implementations, an end cover is further included, and the end cover is detachably mounted on the top of the first shell.

[0015] In a second aspect, the utility model provides a robot arm, comprising: a mounting base and a first rotary joint, wherein the first rotary joint adopts the rotary joint structure described above;

[0016] The mounting base has a mounting cavity, a second through hole is provided in the mounting base, a second annular mounting platform is provided on the inner wall of the mounting base along a circle of the mounting base, the first end of the sleeve passes through the second through hole and is fixedly connected to the mounting base, the wave generator of the reducer assembly is embedded in the mounting base and fixedly mounted on the second annular mounting platform, and the first rotary joint is rotationally connected to the mounting base through the reducer assembly.

[0017] In some optional implementations, the device further includes: a second rotating joint, a first connecting arm, a third rotating joint, an adapter, a second connecting arm, a fourth rotating joint, and a fifth rotating joint, wherein the second rotating joint is rotationally connected to the first rotating joint, the two ends of the first connecting arm are respectively fixedly connected to the second rotating joint and the third rotating joint, the third rotating joint is rotationally connected to the adapter, the two ends of the second connecting arm are respectively fixedly connected to the adapter and the fourth rotating joint, and the fourth rotating joint is rotationally connected to the fifth rotating joint;

[0018] Wherein, the second rotation joint, the third rotation joint, the fourth rotation joint and / or the fifth rotation joint adopt the rotation joint structure described above.

[0019] In some optional implementations, a plurality of mounting holes are provided at the bottom of the mounting base along a circumference of the mounting base.

[0020] In summary, the utility model has at least the following benefits:

[0021] The rotary joint structure provided by the utility model adopts a driving component to cooperate with the first synchronous wheel to drive the second synchronous wheel to force the reducer component to work, so as to realize the first shell to rotate 360° relative to another rotary joint structure or the mounting base. The driving component cooperates with the reducer component to realize the braking rotation function of the rotary joint structure, and the operating braking performance and braking effect are better.

[0022] The robot arm provided by the utility model adopts a mounting base for fixed installation, and the mounting base adopts a hollow design, which can reduce consumables and allow wires to pass through the middle, with high space utilization, making the installation of the robot arm more precise and compact. BRIEF DESCRIPTION OF THE DRAWINGS

[0023] Figure 1 An exploded view of a rotary joint structure provided by an embodiment of the utility model;

[0024] Figure 2 An exploded view from another angle of a rotary joint structure provided by an embodiment of the utility model;

[0025] Figure 3 A schematic structural diagram of a reducer assembly of a rotary joint structure provided by an embodiment of the utility model;

[0026] Figure 4 A structural schematic diagram of a rotary joint structure provided by an embodiment of the utility model;

[0027] Figure 5 A structural schematic diagram of a rotary joint structure provided by an embodiment of the utility model with the end cover removed;

[0028] Figure 6 A partial exploded view of a robotic arm provided in an embodiment of the utility model.

[0029] Figure 7 Another angle partial exploded view of a robotic arm provided in an embodiment of the utility model.

[0030] Figure 8 A schematic structural diagram of a mounting base for a robotic arm provided in an embodiment of the utility model.

[0031] Fig. 9 A schematic structural diagram of a robotic arm provided in an embodiment of the utility model.

[0032] Markings in the figure:

[0033] 10. first housing, 101. first through hole, 102. first annular mounting platform;

[0034] 20. driving assembly, 201. first synchronous wheel, 202. synchronous belt, 203. kit assembly, 204. first mounting seat;

[0035] 30. Second synchronous wheel;

[0036] 40. reducer assembly, 401. flexible wheel, 402. rigid wheel, 403. wave generator;

[0037] 50. Sleeve;

[0038] 60. End cap;

[0039] 70. Threading board;

[0040] 1. The first rotation joint;

[0041] 2. Mounting base, 21. Second through hole, 22. Second annular mounting platform, 23. Mounting hole, 24. Standard aviation jack;

[0042] 3. The second rotation joint;

[0043] 4. First connecting arm;

[0044] 5. The third rotation joint;

[0045] 6. Adapter;

[0046] 7. Second connecting arm;

[0047] 8. Fourth rotation joint;

[0048] 9. Fifth rotation joint;

[0049] 100. Flange assembly. DETAILED DESCRIPTION

[0050] In order to make the purpose, technical solution and advantages of the implementation of the utility model clearer, the technical solution in the implementation of the utility model will be clearly and completely described below in conjunction with the drawings in the implementation of the utility model. The described implementation is a part of the implementation of the utility model, not all of the implementations.

[0051] Therefore, the following detailed description of the embodiments of the present invention provided in the accompanying drawings is not intended to limit the scope of the claimed invention, but merely represents selected embodiments of the present invention. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in the field without creative work are within the scope of protection of the present invention.

[0052] Example 1

[0053] In order to solve the problems in the prior art that the rotating joint of a robot arm only realizes the braking rotation function through a motor, has poor operating braking performance and limited braking effect, the embodiment of the utility model discloses a robot arm.

[0054] Please see attached Figure 1-2 ,in, Figure 1 An exploded view of a rotary joint structure provided in this embodiment, Figure 2 This is an exploded view from another angle of a rotary joint structure provided in this embodiment.

[0055] The rotary joint structure disclosed in this embodiment includes: a first shell 10, a drive component 20, a first synchronous wheel 201, a second synchronous wheel 30, a synchronous belt 202 and a reducer component 40. The drive component 20 is fixedly installed in the first shell 10, the first synchronous wheel 201 is fixedly connected to the output end of the drive component 20, the second synchronous wheel 30 is fixedly connected to the input end of the reducer component 40, the synchronous belt 202 diffracts on the first synchronous wheel 201 and the second synchronous wheel 30, and the reducer component 40 connects the first shell 10 and the second shell or mounting base of another rotary joint structure, so that the first shell 10 can rotate relative to the other rotary joint structure or mounting base through the reducer component 40.

[0056] In this embodiment, the drive component 20 adopts a drive motor, and the first synchronous wheel 201 is fixedly connected to the output shaft of the drive motor. It can also be understood that the first synchronous wheel 201 is possessed by the drive motor itself; the drive component 20 is fixedly installed on the lower end of the first shell 10 through the first mounting seat 204, so that the drive component 20 is fixedly connected to the first shell 10.

[0057] The second synchronous wheel 30 is fixedly connected to the input end of the reducer assembly 40, and the synchronous belt 202 diffracts on the first synchronous wheel 201 and the second synchronous wheel 30. When the driving assembly 20 drives the first synchronous wheel 201 to rotate, the first synchronous wheel 201 forces the second synchronous wheel 30 to rotate through the synchronous belt 202, and then the second synchronous wheel 30 forces the reducer assembly 40 to work.

[0058] Since the reducer assembly 40 connects the first housing 10 and the second housing or mounting base of another rotary joint structure, the first housing 10 can rotate 360° relative to the other rotary joint structure or mounting base during the operation of the reducer assembly 40 .

[0059] This embodiment is a preferred embodiment. The reducer assembly 40 adopts a harmonic reducer, such as Figure 3 As shown, the reducer assembly 40 includes: a flexible wheel 401, a rigid wheel 402 and a wave generator 403. The wave generator 403 is sleeved outside the flexible wheel 401 and can be radially deformed with the flexible wheel 401. The rigid wheel 402 is sleeved outside the wave generator 403 and can realize reverse rotation with the wave generator 403. The second synchronous wheel 30 is fixedly connected to the flexible wheel 401, the rigid wheel 402 is fixedly connected to the first housing 10, and the wave generator 403 is fixedly connected to the second housing or the mounting base, so that when the second synchronous wheel 30 drives the flexible wheel 401 to rotate, the rigid wheel 402 and the wave generator 403 rotate in opposite directions.

[0060] Assuming that the rigid wheel 402 is in a fixed state and the flexible wheel 401 is the input shaft, when the driving assembly 20 drives the flexible wheel 401 to rotate through the first synchronous wheel 201 and the second synchronous wheel 30, the wave generator 403 will rotate in the opposite direction, so that when the rigid wheel 402 is fixedly connected to the first shell 10 and the wave generator 403 is fixedly connected to the second shell or the mounting base, the first shell 10 can rotate 360° relative to another rotating joint structure or the mounting base.

[0061] Furthermore, in some optional embodiments, a first through hole 101 is provided at the lower end of the first shell 10, through which the second synchronous wheel 30 can pass; a first annular mounting platform 102 matching the rigid wheel 402 is provided at the bottom of the first shell 10, and the first annular mounting platform 102 is coaxially arranged with the first through hole 101, and the rigid wheel 402 is embedded in the first shell 10 from the bottom of the first shell 10 and fixedly mounted on the first annular mounting platform 102.

[0062] In some optional embodiments, the rotary joint structure also includes a sleeve 50, a first end of the sleeve 50 is axially fixedly connected to the second shell or the mounting base, and a second end of the sleeve 50 is embedded in the reducer assembly 40 and rotationally connected to the reducer assembly 40.

[0063] Specifically, the first end of the sleeve 50 is axially fixedly connected to the second housing or the mounting base, and the second end of the sleeve 50 is embedded in the flexible wheel 401 of the reducer assembly 40 so that the flexible wheel 401 can rotate along the sleeve 50 .

[0064] In some optional embodiments, the rotary joint structure also includes a kit component 203, which is fixedly mounted on the lower end of the first shell 10, and the synchronous belt 202 diffracted at the end of the second synchronous wheel 30 passes through the kit component 203, and the kit component 203 can limit the synchronous belt 202.

[0065] In some optional embodiments, the rotary joint structure also includes a threading plate 70 and an end cover 60. The threading plate 70 is fixedly disposed in the first shell 10. The threading plate 70 is used to fix the wires and cables of the rotary joint structure to prevent the wires from being damaged by scratching the kit assembly 203 and / or the sleeve 50 after being rotated and tensioned.

[0066] The end cover 60 is detachably mounted on the top of the first shell 10 to seal and protect the first shell 10, thereby preventing air dust from entering the interior of the rotating joint structure and causing an impact. The exterior of the rotating joint structure is easy to clean, and it is also easy to disassemble and inspect the interior of the rotating joint structure. Figure 4-5 shown.

[0067] The rotary joint structure provided in this embodiment adopts a driving component 20 to cooperate with the first synchronous wheel 201 to drive the second synchronous wheel 30 to force the reducer component 40 to work, so as to realize the first shell 10 to rotate 360° relative to another rotary joint structure or the mounting base. The driving component 20 cooperates with the reducer component 40 to realize the braking rotation function of the rotary joint structure, and the operating braking performance and braking effect are better.

[0068] Example 2

[0069] This embodiment discloses a robot arm, such as Figure 6-7As shown, it includes: a mounting base 2 and a first rotation joint 1, and the first rotation joint 1 adopts the rotation joint structure described in the above embodiment 1.

[0070] The installation base 2 is as follows Figure 8 As shown, there is a mounting cavity, which can also be understood as that the mounting base 2 is set as a hollow structure, a second through hole 21 is provided in the mounting base 2, and a second annular mounting platform 22 is provided on the inner wall of the mounting base 2 along the mounting base 2. The first end of the sleeve 50 passes through the second through hole 21 and is fixedly connected to the mounting base 2, the wave generator 403 of the reducer assembly 40 is embedded in the mounting base 2 and fixedly mounted on the second annular mounting platform 22, and the first rotary joint 1 is rotationally connected to the mounting base 2 through the reducer assembly 40.

[0071] The robot arm is fixedly installed using a mounting base 2, and the mounting base 2 adopts a hollow design, which can reduce consumables and allow the wire to pass through the middle, with high space utilization, making the installation of the robot arm more precise and compact. The mounting base 2 is made of aluminum profiles, the processing raw materials are easy to obtain, the overall structure is easy to process, and has better thermal conductivity and heat dissipation effects.

[0072] In some optional embodiments, the bottom surface of the mounting base 2 is circular, and a plurality of mounting holes 23 are provided at the bottom of the mounting base 2 along a circle of the mounting base 2, so that the horizontal mounting angle of the mounting base 2 can be adjusted, thereby further adjusting the mounting angle of the robot arm, or realizing multi-angle installation, thereby increasing the flexible installation of the robot arm and reducing site restrictions.

[0073] In addition, in some optional embodiments, a standard aviation socket 24 is provided on the side of the mounting base 2. Two standard aviation sockets 24 are provided to separate strong electricity and weak electricity to avoid interference between the two types of wiring. The two standard aviation sockets 24 are on the same horizontal plane to facilitate the installation of a protective cover or a drag chain.

[0074] In some optional embodiments, the robot arm also includes: a second rotation joint 3, a first connecting arm 4, a third rotation joint 5, an adapter 6, a second connecting arm 7, a fourth rotation joint 8 and a fifth rotation joint 9, the second rotation joint 3 is rotationally connected to the first rotation joint 1, the two ends of the first connecting arm 4 are fixedly connected to the second rotation joint 3 and the third rotation joint 5 respectively, the third rotation joint 5 is rotationally connected to the adapter 6, the two ends of the second connecting arm 7 are fixedly connected to the adapter 6 and the fourth rotation joint 8 respectively, and the fourth rotation joint 8 is rotationally connected to the fifth rotation joint 9.

[0075] Among them, the second rotation joint 3, the third rotation joint 5, the fourth rotation joint 8 and / or the fifth rotation joint 9 adopt the rotation joint structure described in the above-mentioned embodiment 1, which will not be elaborated in this embodiment.

[0076] In some optional embodiments, the adapter 6 can also be designed as a rotary joint structure that is the same as the third rotary joint 5. However, given that the internal design eliminates the drive assembly 20, the first synchronous wheel 201, the second synchronous wheel 30, the synchronous belt 202, and the reducer assembly 40, it can still meet the requirements of palletizing and avoid the generation of more singular points, making it safer to use.

[0077] Finally, in some optional embodiments, a flange assembly 100 may be provided at the output end of the fifth rotary joint 9, and the flange assembly 100 may be locked and mounted on the wave generator of the reducer assembly of the fifth rotary joint 9, so that the output shaft of the fifth rotary joint 9 is rotationally connected to the clamp through the flange assembly 100.

[0078] In the present invention, unless otherwise clearly specified and limited, the terms "install", "connect", "connect", "fix" and the like should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be a direct connection or an indirect connection through an intermediate medium, it can be the internal connection of two elements or the interaction relationship between two elements. For ordinary technicians in this field, the specific meanings of the above terms in the present invention can be understood according to specific circumstances.

[0079] In the description of the present utility model, it should be noted that the terms "center", "upper", "lower", "left", "right", "vertical", "horizontal", "inside", "outside", etc. indicate the orientation or position relationship based on the orientation or position relationship shown in the accompanying drawings, or the orientation or position relationship in which the utility model product is usually placed when in use, which is only for the convenience of describing the utility model and simplifying the description, and does not indicate or imply that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be understood as a limitation on the present utility model. In addition, the terms "first", "second", "third", etc. are only used to distinguish the description, and cannot be understood as indicating or implying relative importance.

[0080] In addition, the terms "horizontal", "vertical", "overhanging" and the like do not mean that the components are required to be absolutely horizontal or overhanging, but can be slightly tilted. For example, "horizontal" only means that its direction is more horizontal than "vertical", and does not mean that the structure must be completely horizontal, but can be slightly tilted.

[0081] In the present utility model, unless otherwise clearly specified and limited, the first feature being above or below the second feature may include the first and second features being in direct contact, or may include the first and second features not being in direct contact but being in contact through another feature between them. Moreover, the first feature being above, above, and above the second feature includes the first feature being directly above and obliquely above the second feature, or simply means that the first feature is higher in level than the second feature. The first feature being below, below, and below the second feature includes the first feature being directly below and obliquely below the second feature, or simply means that the first feature is lower in level than the second feature.

[0082] Although the utility model is described in conjunction with the above specific embodiments, it is obvious that those skilled in the art can make many substitutions, modifications and changes based on the above content. Therefore, all such substitutions, improvements and changes are included in the spirit and scope of the appended claims.

Claims

1. A rotary joint structure of a robot arm, characterized in that: include: A first housing (10), a drive assembly (20), a first synchronous wheel (201), a second synchronous wheel (30), a synchronous belt (202), and a reducer assembly (40); the drive assembly (20) is fixedly mounted in the first housing (10); the first synchronous wheel (201) is fixedly connected to an output end of the drive assembly (20); the second synchronous wheel (30) is fixedly connected to an input end of the reducer assembly (40); the synchronous belt (202) is diffracted on the first synchronous wheel (201) and the second synchronous wheel (30); the reducer assembly (40) is connected to the first housing (10) and a second housing or a mounting seat of another rotary joint structure, so that the first housing (10) can rotate relative to another rotary joint structure or a mounting seat through the reducer assembly (40).

2. The rotary joint structure of a robot arm according to claim 1, characterized in that: The reducer assembly (40) comprises: a flexible wheel (401), a rigid wheel (402) and a wave generator (403); the wave generator (403) is sleeved outside the flexible wheel (401) and can undergo radial deformation with the flexible wheel (401); the rigid wheel (402) is sleeved outside the wave generator (403) and can achieve reverse rotation with the wave generator (403); the second synchronous wheel (30) is fixedly connected to the flexible wheel (401), the rigid wheel (402) is fixedly connected to the first housing (10), and the wave generator (403) is fixedly connected to the second housing or a mounting base.

3. The rotary joint structure of a robot arm according to claim 1, characterized in that: It also comprises a sleeve (50), a first end of the sleeve (50) being axially fixedly connected to the second housing or the mounting base, and a second end of the sleeve (50) being embedded in the reducer assembly (40) and rotationally connected to the reducer assembly (40).

4. The rotary joint structure of a robot arm according to claim 1, characterized in that: The reducer assembly (40) comprises a harmonic reducer.

5. The rotary joint structure of a robot arm according to claim 2, characterized in that: The driving assembly (20) is fixedly mounted on the lower end of the first housing (10) via a first mounting seat (204); a first through hole (101) is provided at the lower end of the first housing (10) for allowing the second synchronous wheel (30) to pass through; a first annular mounting platform (102) matching the rigid wheel (402) is provided at the bottom of the first housing (10); the first annular mounting platform (102) is coaxially arranged with the first through hole (101); the rigid wheel (402) is embedded into the first housing (10) from the bottom of the first housing (10) and is fixedly mounted on the first annular mounting platform (102).

6. The rotary joint structure of a robot arm according to claim 1, characterized in that: It also comprises a kit assembly (203), wherein the kit assembly (203) is fixedly mounted on the lower end of the first housing (10), and the synchronous belt (202) diffracted at the end of the second synchronous wheel (30) passes through the kit assembly (203).

7. The rotary joint structure of a robot arm according to claim 1, characterized in that: It also includes an end cover (60), wherein the end cover (60) is detachably mounted on the top of the first shell (10).

8. A robotic arm, characterized in that: include: A mounting base (2) and a first rotary joint (1), wherein the first rotary joint (1) adopts the rotary joint structure according to any one of claims 1 to 7; The mounting base (2) has a mounting cavity, a second through hole (21) is provided in the mounting base (2), a second annular mounting platform (22) is provided on the inner wall of the mounting base (2) along a circumference of the mounting base (2), the first end of the sleeve (50) passes through the second through hole (21) and is fixedly connected to the mounting base (2), the wave generator (403) of the reducer assembly (40) is embedded in the mounting base (2) and fixedly mounted on the second annular mounting platform (22), and the first rotary joint (1) is rotationally connected to the mounting base (2) via the reducer assembly (40).

9. The robot arm according to claim 8, characterized in that: Also includes: a second rotating joint (3), a first connecting arm (4), a third rotating joint (5), an adapter (6), a second connecting arm (7), a fourth rotating joint (8), and a fifth rotating joint (9), wherein the second rotating joint (3) is rotationally connected to the first rotating joint (1), two ends of the first connecting arm (4) are respectively fixedly connected to the second rotating joint (3) and the third rotating joint (5), the third rotating joint (5) is rotationally connected to the adapter (6), two ends of the second connecting arm (7) are respectively fixedly connected to the adapter (6) and the fourth rotating joint (8), and the fourth rotating joint (8) is rotationally connected to the fifth rotating joint (9); Wherein, the second rotary joint (3), the third rotary joint (5), the fourth rotary joint (8) and / or the fifth rotary joint (9) adopt the rotary joint structure according to any one of claims 1 to 7.

10. The robot arm according to claim 8, characterized in that: A plurality of mounting holes (23) are provided at the bottom of the mounting base (2) along a circumference of the mounting base (2).

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